Summary of numerical results from the simulations in this paper. All values reported are the median across 15 simulation runs.

See Table A in S1 File for minima and maxima. The top line of the table header indicates the simulation settings: No Others refers to simulations in which agents did not perceive other agents, Perched 1 and Perched 2 refer to simulations in which 25% and 50% of the wall reflectors were occupied by perched agents, Differential refers to a condition in which the agents could differentiate between echoes from walls and other acoustic inputs, and Large refers to a condition in which the arena was scaled up and the number of agents doubled to 50. The bottom line of the table header indicates which arena was used. The table lists the mode (md) of the distribution for agent-to-agent and agent-to-wall distances. It also includes the duration of each simulation in simulated seconds and steps. The rows and indicate the percentage of time steps during which an agent was within 13 cm of another agent or a wall, respectively. Finally, the number of wall collisions is reported both as raw counts and as a normalized (N) value (collisions per agent per second).