Autonomous Navigation on Gazebo simulation 50 dynamic and static obstacles
100Success Rate (%)EGO-Swarm2
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| EGO-Swarm2Params=wobst = 1 x 10^4, Traj.=MINCO, Sensor=camera2025.11 | 100 | 1.3 | 1.8 | 144.7 | 329.8 | 263.3 | 2.5 | 0 | 0 | 0 | — | |
| EGO-Swarm2Params=wobst = 1 x 10^5, Traj.=MINCO, Sensor=camera2025.11 | 100 | 1.2 | 1.7 | 140.2 | 326.9 | 243.2 | 2.2 | 0.05 | 0 | 0 | — | |
| SUPERParams=wt = 1 x 10^1, Traj.=MINCO, Computation Stage=exploratory & safe2025.11 | 100 | 7.8 | 50.6 | 264.7 | 342 | 200 | 0.9 | 0 | 0 | 0 | — | |
| MIGHTYTraj.=Hermite2025.11 | 100 | 10.5 | 19.7 | 79 | 310.9 | 522.2 | 9.4 | 0 | 0 | 0 | — | |
| EXACT-MPPI2026.05 | 96 | — | — | 62.47 | 25.05 | — | — | — | — | — | 0.4 | |
| EXACT-MPPIFootprint=Explicit footprint-aware2026.05 | 96 | — | — | 62.47 | 25.05 | — | — | — | — | — | 0.4 | |
| EGO-SwarmParams=vmax = 1.0 m/s, Traj.=B-spline2025.11 | 90 | 0.6 | 0.9 | 559.8 | 370 | 204.4 | 0.6 | 0.1 | 0 | 0 | — | |
| EGO-SwarmParams=vmax = 2.0 m/s, Traj.=B-spline2025.11 | 80 | 0.9 | 1.3 | 262.7 | 364.8 | 1,074.9 | 7.3 | 3.8 | 0.01 | 0.4 | — | |
| EGO-SwarmParams=vmax = 3.0 m/s, Traj.=B-spline2025.11 | 70 | 1.8 | 2.4 | 178.2 | 380.2 | 3,024.5 | 26.7 | 5.7 | 1.2 | 16.5 | — | |
| EGO-Swarm2Params=wobst = 1 x 10^5, Traj.=MINCO, Sensor=LiDAR2025.11 | 70 | 4.6 | 5.9 | 150.1 | 333.5 | 247.7 | 3.5 | 0.02 | 0 | 0 | — | |
| NeuPANfootprint=convex-hull T-shaped2026.05 | 65 | — | — | 64.47 | 26.49 | — | — | — | — | — | 0.41 | |
| NeuPANFootprint=convex-hull T-shaped2026.05 | 65 | — | — | 64.47 | 26.49 | — | — | — | — | — | 0.41 | |
| SUPERParams=wt = 1 x 10^3, Traj.=MINCO, Computation Stage=exploratory & safe2025.11 | 60 | 5.6 | 57.5 | 99.6 | 323.4 | 431.9 | 6.7 | 0 | 0.02 | 0.2 | — | |
| SUPERParams=wt = 1 x 10^2, Traj.=MINCO, Computation Stage=exploratory & safe2025.11 | 60 | 6.8 | 47.6 | 124.7 | 326.9 | 399.5 | 4.2 | 0 | 0.01 | 0.06 | — | |
| EGO-SwarmParams=vmax = 4.0 m/s, Traj.=B-spline2025.11 | 40 | 1.8 | 2.3 | 135.9 | 379.7 | 4,233.1 | 43.6 | 3.5 | 6.5 | 38 | — | |
| EGO-Swarm2Params=wobst = 1 x 10^4, Traj.=MINCO, Sensor=LiDAR2025.11 | 20 | 5.9 | 7.6 | 144.6 | 331.7 | 336.8 | 3.5 | 0.6 | 0 | 0.01 | — | |
| SUPERParams=wt = 1 x 10^4, Traj.=MINCO, Computation Stage=exploratory & safe2025.11 | 20 | 5.9 | 46.4 | 87.5 | 323.5 | 627.4 | 10.9 | 0 | 0.02 | 1 | — |