USV Collision Avoidance on 100,000 USV Encounters (simulation)
0.1Angular Encounter Frequency VariationOnly CBF
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Only CBFCOLREGS=false, CBF=true2026.01 | 0.1 | 174 | 0 | 24 | 25 | |
| Only COLREGS behaviorsCOLREGS=true, CBF=false2026.01 | 0.17 | 929 | 34 | 22 | 3.6 | |
| COLREGS behaviors + CBFCOLREGS=true, CBF=true2026.01 | 0.19 | 13 | 0 | 21 | 5.4 |