Drone Collision Avoidance on Circle-swap 3.0 v1.0 (test)
76.6Success Rate (SR)PanoDP
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| PanoDPN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=onboard depth2026.03 | 76.6 | 1.23 | 27.3 | |
| D-CBFN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 73.3 | 1.32 | 17.1 | |
| RAMFTN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 69.1 | 1.46 | 16.7 | |
| DWAN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 60.4 | 1.85 | 7.2 | |
| CBF-AFN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 51.8 | 2.25 | 15.5 | |
| HIL-CBFN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 49.7 | 2.56 | 15.4 | |
| DPDN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 44.5 | 2.8 | 10.6 | |
| APF-CPPN (Number of drones)=256, rho_obs (Obstacle density)=1.0, Obstacle Type=static, Drone Speed (v)=3.0, Observation Type=privileged neighbor state2026.03 | 25.5 | 3.5 | 3.8 |