Results of 16000 simulations in "Voronoids: Fast and Ordered Swarm Coordinated Motion"

The (CSV) table DataSet contains the aggregate results of the 16000 following simulation cases (one per line), defined by the first ten columns:

A) ID: # case identifier

B) n=10,20,40,80,160 # number of robots

C) S2M=0,0.5 # Stall-to-Maximum, 0 for differential-drive and quadrotor-like robots, 0.5 for fUAV-like robots

D) PF=0.25,0.5,0.75,1 # Prudence Factor, max. velocity is PF*r/s (+/- 10%), where r is the communication factor, and s is one second

E) OF=1,2 # Overpopulation Factor

F) T=0.25,0.5,0.75,1 # high-level control period (+/- 10%)

G) FF=1 # Feed-Forward (True or False)

H) CC=1,3 # Connectivity Control: 0=None,1=NN,2=MST,3=IMRG,4=Voronoi

I) scn=1,2,3,4,5 # Scenario

J) rands=0,1,2,3,4 # random seed

Two auxiliary columns are added:

K) r # communication radius (the arena axis are [-16,16,-9,9]) - physically, r=100 m, for instance, so this parameter defines the space scale of the simulation

L) PFxT # Prudence Factor multiplied by control period, fraction of r that, at max. velocity,  the robot advances without high-level control

From each simulation case, the following aggreagate results, or indices, are obtained:

The principal Indices of Quality, given in the following four columns:

M) IQA # IQ Area coverage: time-average ratio of uncovered area

N) IQN # IQ Nearest-neighbor distance uniformity: time-average of average difference of distances to nearest neighbor wrt. average distance, divided by r

O) IQC # IQ collisions: ratio of robots lost by collision

P) IQX # IQ connectedness: ratio of robots lost by disconnection

Additional indices are given in the following four columns:

Q) minD # minimum distance from any robot to anything else during the whole simulation, divided by r

R) IQV # IQ Velocity: average advance velocity of robots, divided by max. velocity (approx. PF*r/s)

S) SpenTime # time to complete the mission, including 3 s for initial deployment

T) SimDuration # time to complete the simulation (in a single core of our cluster)