Swarm Collision Avoidance on circle-swap N=128 1.0
80.7Success Rate (%)PanoDP
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| PanoDPrho_obs=1.0, v_drone=rand, Neighbor State Access=onboard depth2026.03 | 80.7 | 0.38 | 32.5 | |
| D-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 78.1 | 0.43 | 19.9 | |
| RAMFTrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 74.7 | 0.46 | 27.4 | |
| CBF-AFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 66.9 | 0.61 | 17 | |
| DWArho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 60.2 | 0.73 | 5.9 | |
| HIL-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 51.8 | 1.3 | 16.8 | |
| DPDrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 51.8 | 1.01 | 7.7 | |
| APF-CPPrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 22.7 | 3.72 | 3 |