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Multi-robot coordination on Five evaluation scenarios n=100 runs per architecture
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94
Coordination Success Rate
CFC
83.6
86.3
89
91.7
Apr 13, 2026
Coordination Success Rate
Governance Locality
Recovery Containment
Authority Conflicts
Policy Violations
Reassignment Latency (s)
Human Intervention Rate
Audit Attributability
Updated 1mo ago
Evaluation Results
Method
Method
Links
Coordination Success Rate
Governance Locality
Recovery Containment
Authority Conflicts
Policy Violations
Reassignment Latency (s)
Human Intervention Rate
Audit Attributability
CFC
Runs per architecture=100
2026.04
94
0.69
0.51
3.79
1.66
2.07
32
0.84
FSAR
Runs per architecture=100
2026.04
93
0.94
0.89
1.04
0.4
3.01
14
0.98
DHMA
Runs per architecture=100
2026.04
84
0.53
0.8
8.11
3.34
5.18
19
0.53
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