ESA-OSIP · Decision Engine · Run Comparison

Ensemble decision comparison

Deterministic, side-by-side decision runs from the ensemble-v1 strategy. Each pair changes a single factor so the delta is attributable. All values are simulated / synthetic — no ESA endorsement or flight heritage is implied.

A/B decision runs

Ensemble vs single-evaluator baseline

selection changedconsensus changedΔdispersion +0.230Δfeasible -1

baseline-weighted-v1n/a consensus

Strategy: baseline-weighted-v1
Selected: —
Fallback: —
Dispersion: —
Feasible: 4 / 4
Energy (sel.): —
Pre-calc: —

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.728	feasible
2	safe-mode	0.669	feasible
3	relay-hold	0.640	feasible
4	direct-target	0.253	feasible

ensemble-v1moderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Five sensors vs degraded sensors (ensemble)

selection changedconsensus changedΔdispersion -0.095Δfeasible +0

five sensorsmoderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

High energy vs low energy (ensemble)

selection changedconsensus changedΔdispersion +0.157Δfeasible -3

SoC 0.55moderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Full comms vs comms blackout (ensemble)

Δdispersion -0.006Δfeasible +0

comms upmoderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Pre-calculated reuse vs live (state mismatch)

selection changedconsensus changedΔdispersion +0.157Δfeasible -3

nominal → reusemoderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Reduced- / degraded-sensor study

Comparative simulation study on five heterogeneous modalities; does not claim sufficiency for real lunar operations.

Configuration	Selected	Consensus	Δdispersion	Failed evaluators	Feasible	Fallback
All five sensors available	ridge-reroute	moderate	+0.000	—	3	no
Camera degraded	ridge-reroute	moderate	-0.041	—	3	no
LiDAR / depth unavailable ✳	safe-mode	high	-0.088	2	3	no
Two complementary sensors unavailable (LiDAR+IMU) ✳	safe-mode	moderate	-0.120	3	3	no
Conflicting sensor observations	ridge-reroute	moderate

Computing decision comparisons…

A/B decision runs

Ensemble vs single-evaluator baseline

selection changedconsensus changedΔdispersion +0.230Δfeasible -1

baseline-weighted-v1n/a consensus

Strategy: baseline-weighted-v1
Selected: —
Fallback: —
Dispersion: —
Feasible: 4 / 4
Energy (sel.): —
Pre-calc: —

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.728	feasible
2	safe-mode	0.669	feasible
3	relay-hold	0.640	feasible
4	direct-target	0.253	feasible

ensemble-v1moderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Five sensors vs degraded sensors (ensemble)

selection changedconsensus changedΔdispersion -0.095Δfeasible +0

five sensorsmoderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

High energy vs low energy (ensemble)

selection changedconsensus changedΔdispersion +0.157Δfeasible -3

SoC 0.55moderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Full comms vs comms blackout (ensemble)

Δdispersion -0.006Δfeasible +0

comms upmoderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Pre-calculated reuse vs live (state mismatch)

selection changedconsensus changedΔdispersion +0.157Δfeasible -3

nominal → reusemoderate consensus

Strategy: ensemble-v1
Selected: ridge-reroute
Fallback: relay-hold
Dispersion: 0.230
Feasible: 3 / 4
Energy (sel.): nominal
Pre-calc: reused

Ranked candidates
#	Action	Score	Status
1	ridge-reroute	0.817	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.723	feasible
4	direct-target	0.548	REJ_HARD_CONSTRAINT

Reduced- / degraded-sensor study

Comparative simulation study on five heterogeneous modalities; does not claim sufficiency for real lunar operations.

Configuration	Selected	Consensus	Δdispersion	Failed evaluators	Feasible	Fallback
All five sensors available	ridge-reroute	moderate	+0.000	—	3	no
Camera degraded	ridge-reroute	moderate	-0.041	—	3	no
LiDAR / depth unavailable ✳	safe-mode	high	-0.088	2	3	no
Two complementary sensors unavailable (LiDAR+IMU) ✳	safe-mode	moderate	-0.120	3	3	no
Conflicting sensor observations	ridge-reroute	moderate

#	Action	Score	Status
1	safe-mode	0.883	feasible
2	ridge-reroute	0.837	feasible
3	relay-hold	0.745	feasible
4	direct-target	0.510	REJ_HARD_CONSTRAINT

#	Action	Score	Status
1	ridge-reroute	0.651	REJ_ENERGY_RESERVE
2	relay-hold	0.590	REJ_ENERGY_RESERVE
3	safe-mode	0.546	REJ_ENERGY_RESERVE
4	direct-target	0.439	REJ_HARD_CONSTRAINT

#	Action	Score	Status
1	ridge-reroute	0.806	feasible
2	relay-hold	0.726	feasible
3	safe-mode	0.724	feasible
4	direct-target	0.513	REJ_HARD_CONSTRAINT