Swarm Collision Avoidance on circle-swap N=64 1.0
86.5Success Rate (SR)RAMFT
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| RAMFTrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 86.5 | 0.24 | 10.3 | |
| PanoDPrho_obs=1.0, v_drone=rand, Neighbor State Access=onboard depth2026.03 | 84.4 | 0.27 | 16.8 | |
| D-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 82.8 | 0.3 | 9.1 | |
| CBF-AFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 67.7 | 0.6 | 7.7 | |
| HIL-CBFrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 67.2 | 0.52 | 6.3 | |
| DWArho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 62 | 0.65 | 3.9 | |
| DPDrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 50 | 0.98 | 4.1 | |
| APF-CPPrho_obs=1.0, v_drone=rand, Neighbor State Access=privileged (rs = 24 m)2026.03 | 39.6 | 2.14 | 2.5 |