1. A method of determining between two anytime techniques for solving an anytime problem, wherein the problem includes constraints and a value to be minimized, comprising: solving, by a computer, an anytime problem using a first anytime technique and a second anytime technique to determine a first and a second plurality of solutions, respectively, wherein each of the first and the second the plurality of solutions includes a value and an associated computation time, respectively, and each of the first and the second plurality solutions including a minimized value and associated computation time, respectively, wherein the first plurality of solutions determined by the first anytime technique produces different solutions than the second plurality of solutions determined by the second anytime technique; determining, by the computer, a set of delta value ordinates and computation time ordinates where each delta value ordinate is the difference between a value from the first plurality of solutions and a value from the second plurality of solutions and where each delta computation time ordinate is the difference between an associated computation time from the first plurality of solutions and an associated computation time from the second plurality of solutions; determining, by the computer, a representative value ordinate and representative computation time ordinate from a summation of the respective delta value ordinates and a summation of the computation time ordinates, wherein the representative value ordinate and the representative computation time ordinate comprises a centroid calculation in value and computation time space, wherein the centroid calculation comprises summing the delta value ordinates divided by the number of delta value ordinates; determining, by the computer, a more efficient anytime technique from the sign of the representative value ordinate and the computation time ordinate; and solving, by the computer, the anytime problem using the more efficient anytime technique to determine a travel path to be executed by a robot, wherein the robot executes the determined travel path.