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Benchmarks
Swarm Collision Avoidance on circle-swap N=64 1.0
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86.5
Success Rate (SR)
RAMFT
37.724
50.387
63.05
75.713
Mar 8, 2026
Success Rate (SR)
Collision Rate (CR)
Mean Final Collision Time (MFCT) (s)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Success Rate (SR)
Collision Rate (CR)
Mean Final Collision Time (MFCT) (s)
RAMFT
rho_obs=1.0, v_drone=r...
2026.03
86.5
0.24
10.3
PanoDP
rho_obs=1.0, v_drone=r...
2026.03
84.4
0.27
16.8
D-CBF
rho_obs=1.0, v_drone=r...
2026.03
82.8
0.3
9.1
CBF-AF
rho_obs=1.0, v_drone=r...
2026.03
67.7
0.6
7.7
HIL-CBF
rho_obs=1.0, v_drone=r...
2026.03
67.2
0.52
6.3
DWA
rho_obs=1.0, v_drone=r...
2026.03
62
0.65
3.9
DPD
rho_obs=1.0, v_drone=r...
2026.03
50
0.98
4.1
APF-CPP
rho_obs=1.0, v_drone=r...
2026.03
39.6
2.14
2.5
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