Collision Avoidance on Circle-swap Obstacle Density (test)
83.6Success RatePanoDP
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| PanoDPObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 83.6 | 0.57 | 36.7 | |
| D-CBFObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 82 | 0.72 | 25.3 | |
| PanoDPObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 80.6 | 0.8 | 37.5 | |
| PanoDPObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 80.5 | 0.8 | 36.6 | |
| PanoDPObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 79.6 | 0.89 | 40.1 | |
| D-CBFObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 78.6 | 0.76 | 25 | |
| RAMFTObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 77.3 | 0.73 | 31.5 | |
| D-CBFObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 75.8 | 0.87 | 27 | |
| D-CBFObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 75.8 | 0.88 | 26.4 | |
| CBF-AFObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 75.3 | 1.04 | 23.4 | |
| RAMFTObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 74.2 | 0.83 | 31.3 | |
| RAMFTObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 73.8 | 0.87 | 30.4 | |
| RAMFTObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 72.9 | 0.87 | 30.6 | |
| CBF-AFObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 67.7 | 1.04 | 24.9 | |
| CBF-AFObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 63.9 | 1.18 | 23.4 | |
| DWAObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 63.3 | 1.18 | 7.7 | |
| CBF-AFObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 62.4 | 1.3 | 23.7 | |
| HIL-CBFObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 62.2 | 1.79 | 26.1 | |
| DWAObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 60.3 | 1.28 | 7.4 | |
| DWAObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 59.4 | 1.3 | 6.9 | |
| DWAObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 59.4 | 1.3 | 6.9 | |
| DPD†Obstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 58.3 | 1.52 | 13.4 | |
| DPD†Obstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 58.1 | 1.68 | 13.4 | |
| DPD†Obstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 55.1 | 1.68 | 15.5 | |
| HIL-CBFObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 54.9 | 2.14 | 25.1 | |
| DPD†Obstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 53.6 | 1.77 | 15 | |
| HIL-CBFObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 50.8 | 2.35 | 24.6 | |
| HIL-CBFObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 50.4 | 2.66 | 24.4 | |
| APF-CPPObstacle Density (ρobs)=0.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 32.8 | 2.2 | 4.4 | |
| APF-CPPObstacle Density (ρobs)=1.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 25.3 | 2.42 | 4 | |
| APF-CPPObstacle Density (ρobs)=2.0, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 22.5 | 3.75 | 3.6 | |
| APF-CPPObstacle Density (ρobs)=1.5, Number of Drones (N)=256, Drone Speed (vdrone)=rand2026.03 | 20.8 | 4.99 | 3.8 |