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Benchmarks
Swarm Collision Avoidance on circle-swap N=512 1.0
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87.2
Success Rate (SR)
PanoDP
20.536
37.843
55.15
72.457
Mar 8, 2026
Success Rate (SR)
Collision Rate (CR)
Mean First Collision Time (MFCT) (s)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Success Rate (SR)
Collision Rate (CR)
Mean First Collision Time (MFCT) (s)
PanoDP
rho_obs=1.0, v_drone=r...
2026.03
87.2
0.88
48.6
D-CBF
rho_obs=1.0, v_drone=r...
2026.03
84.4
1.03
40.4
RAMFT
rho_obs=1.0, v_drone=r...
2026.03
79.4
1.32
33.6
CBF-AF
rho_obs=1.0, v_drone=r...
2026.03
74
1.81
40.8
DWA
rho_obs=1.0, v_drone=r...
2026.03
62.6
2.5
9.4
DPD
rho_obs=1.0, v_drone=r...
2026.03
62.2
3.05
20.8
HIL-CBF
rho_obs=1.0, v_drone=r...
2026.03
57
5.16
41.5
APF-CPP
rho_obs=1.0, v_drone=r...
2026.03
23.1
6.49
6
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