Swarm Collision Avoidance on circle-swap N=512 1.0
87.2Success Rate (SR)PanoDP
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| PanoDPrho_obs=1.0, v_drone=rand, Neighbor State Access=onboard depth2026.03 | 87.2 | 0.88 | 48.6 | |
| D-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 84.4 | 1.03 | 40.4 | |
| RAMFTrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 79.4 | 1.32 | 33.6 | |
| CBF-AFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 74 | 1.81 | 40.8 | |
| DWArho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 62.6 | 2.5 | 9.4 | |
| DPDrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 62.2 | 3.05 | 20.8 | |
| HIL-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 57 | 5.16 | 41.5 | |
| APF-CPPrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 23.1 | 6.49 | 6 |