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Benchmarks
Swarm Collision Avoidance on circle-swap N=128 1.0
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80.7
Success Rate (%)
PanoDP
20.38
36.04
51.7
67.36
Mar 8, 2026
Success Rate (%)
Collision Rate
Mean First Collision Time (s)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Success Rate (%)
Collision Rate
Mean First Collision Time (s)
PanoDP
rho_obs=1.0, v_drone=r...
2026.03
80.7
0.38
32.5
D-CBF
rho_obs=1.0, v_drone=r...
2026.03
78.1
0.43
19.9
RAMFT
rho_obs=1.0, v_drone=r...
2026.03
74.7
0.46
27.4
CBF-AF
rho_obs=1.0, v_drone=r...
2026.03
66.9
0.61
17
DWA
rho_obs=1.0, v_drone=r...
2026.03
60.2
0.73
5.9
HIL-CBF
rho_obs=1.0, v_drone=r...
2026.03
51.8
1.3
16.8
DPD
rho_obs=1.0, v_drone=r...
2026.03
51.8
1.01
7.7
APF-CPP
rho_obs=1.0, v_drone=r...
2026.03
22.7
3.72
3
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