Swarm Collision Avoidance on circle-swap N=256 1.0
80.6Success RatePanoDP
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| PanoDPrho_obs=1.0, v_drone=rand, Neighbor State Access=onboard depth2026.03 | 80.6 | 0.8 | 37.5 | |
| D-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 78.6 | 0.76 | 25 | |
| RAMFTrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 74.2 | 0.83 | 31.3 | |
| CBF-AFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 67.7 | 1.04 | 24.9 | |
| DWArho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 60.3 | 1.28 | 7.4 | |
| DPDrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 55.1 | 1.68 | 15.5 | |
| HIL-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 54.9 | 2.14 | 25.1 | |
| APF-CPPrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 25.3 | 2.42 | 4 |