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

<p>The (CSV) table DataSet contains the aggregate results of the 16000 following simulation cases (one per line), defined by the first ten columns:</p> <p>A) ID: # case identifier</p> <p>B) n=10,20,40,80,160 # number of robots</p> <p>C) S2M=0,0.5 # Stall-to-Maximum, 0 for differential-drive and quadrotor-like robots, 0.5 for fUAV-like robots</p> <p>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</p> <p>E) OF=1,2 # Overpopulation Factor</p> <p>F) T=0.25,0.5,0.75,1 # high-level control period (+/- 10%)</p> <p>G) FF=1 # Feed-Forward (True or False)</p> <p>H) CC=1,3 # Connectivity Control: 0=None,1=NN,2=MST,3=IMRG,4=Voronoi</p> <p>I) scn=1,2,3,4,5 # Scenario</p> <p>J) rands=0,1,2,3,4 # random seed</p> <p>&nbsp;</p> <p>Two auxiliary columns are added:</p> <p>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</p> <p>L) PFxT # Prudence Factor multiplied by control period, fraction of r that, at max. velocity,&nbsp; the robot advances without high-level control</p> <p>&nbsp;</p> <p>From each simulation case, the following aggreagate results, or indices, are obtained:</p> <p>&nbsp;</p> <p>The principal Indices of Quality, given in the following four columns:</p> <p>M) IQA # IQ Area coverage: time-average ratio of uncovered area</p> <p>N) IQN # IQ Nearest-neighbor distance uniformity: time-average of average difference of distances to nearest neighbor wrt. average distance, divided by r</p> <p>O) IQC # IQ collisions: ratio of robots lost by collision</p> <p>P) IQX # IQ connectedness: ratio of robots lost by disconnection</p> <p>&nbsp;</p> <p>Additional indices are given in the following four columns:</p> <p>Q) minD # minimum distance from any robot to anything else during the whole simulation, divided by r</p> <p>R) IQV # IQ Velocity: average advance velocity of robots, divided by max. velocity (approx. PF*r/s)</p> <p>S) SpenTime # time to complete the mission, including 3 s for initial deployment</p> <p>T) SimDuration # time to complete the simulation (in a single core of our cluster)</p>