state stringlengths 409 422 | questions stringclasses 1
value | gold stringlengths 229 240 |
|---|---|---|
{"battery_percent": 30.6, "distance_to_base": 12.51, "distance_to_target": 0.53, "heading_to_target_deg": -91.52, "nearest_obstacle": {"clearance_m": 1.31, "radius_m": 0.91}, "nearest_teammate": {"battery_percent": 56.8, "distance_m": 0.64, "radio_link_degraded": false}, "position": [5.57, 1.48], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.447985814343922, "hold_position": 0.03464465483812657, "move_to_target": 0.04585243937802612, "request_swarm_help": 0.467584924096405, "return_to_base": 0.003932167343520294}}} |
{"battery_percent": 69.3, "distance_to_base": 7.52, "distance_to_target": 11.38, "heading_to_target_deg": 138.66, "nearest_obstacle": {"clearance_m": 1.11, "radius_m": 0.88}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 4.65, "radio_link_degraded": false}, "position": [0.35, 0.75], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6698205984825989, "hold_position": 0.2963911969921252, "move_to_target": 0.02502841286351112, "request_swarm_help": 0.0054285941339074426, "return_to_base": 0.00333119752785731}}} |
{"battery_percent": 87.8, "distance_to_base": 15.39, "distance_to_target": 0.94, "heading_to_target_deg": -3.05, "nearest_obstacle": {"clearance_m": 3.72, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 34.9, "distance_m": 0.66, "radio_link_degraded": false}, "position": [-2.68, 4.29], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.44959481740020396, "hold_position": 0.03485789420211729, "move_to_target": 0.04428007635565827, "request_swarm_help": 0.46974339704959195, "return_to_base": 0.0015238149924284073}}} |
{"battery_percent": 61.9, "distance_to_base": 10.54, "distance_to_target": 14.99, "heading_to_target_deg": -20.03, "nearest_obstacle": {"clearance_m": 1.65, "radius_m": 0.48}, "nearest_teammate": {"battery_percent": 96.1, "distance_m": 7.95, "radio_link_degraded": false}, "position": [-7.17, 7.73], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.050184057660074236, "hold_position": 0.37081281732225896, "move_to_target": 0.5180873535509948, "request_swarm_help": 0.0359584486050836, "return_to_base": 0.024957322861588346}}} |
{"battery_percent": 84.6, "distance_to_base": 6.88, "distance_to_target": 7.78, "heading_to_target_deg": 119.17, "nearest_obstacle": {"clearance_m": 12.43, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 64.3, "distance_m": 3.22, "radio_link_degraded": true}, "position": [8.14, -3.15], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009346916265298533, "hold_position": 0.0690648886362982, "move_to_target": 0.19834570984127725, "request_swarm_help": 0.7200560640872271, "return_to_base": 0.003186421169898873}}} |
{"battery_percent": 73.6, "distance_to_base": 12.51, "distance_to_target": 23.34, "heading_to_target_deg": 149.22, "nearest_obstacle": {"clearance_m": 1.89, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 71.6, "distance_m": 11.32, "radio_link_degraded": false}, "position": [10.62, -6.6], "radio_link_degrade... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0714651568756979, "hold_position": 0.5280600532734114, "move_to_target": 0.3200000703138673, "request_swarm_help": 0.05120702251650526, "return_to_base": 0.029267697020518166}}} |
{"battery_percent": 62.9, "distance_to_base": 11.3, "distance_to_target": 2.63, "heading_to_target_deg": 134.5, "nearest_obstacle": {"clearance_m": 4.78, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 62.5, "distance_m": 2.67, "radio_link_degraded": false}, "position": [2.96, 1.28], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007948676603582425, "hold_position": 0.058733217336128074, "move_to_target": 0.28248379793548706, "request_swarm_help": 0.6469477644923206, "return_to_base": 0.0038865436324818418}}} |
{"battery_percent": 57.5, "distance_to_base": 14.75, "distance_to_target": 5.99, "heading_to_target_deg": -175.91, "nearest_obstacle": {"clearance_m": 1.09, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 5.32, "radio_link_degraded": false}, "position": [2.52, 0.62], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6582296393425664, "hold_position": 0.2904373992110582, "move_to_target": 0.04204199090457914, "request_swarm_help": 0.005319546523732871, "return_to_base": 0.003971424018063477}}} |
{"battery_percent": 16.0, "distance_to_base": 5.54, "distance_to_target": 0.42, "heading_to_target_deg": -130.96, "nearest_obstacle": {"clearance_m": 3.26, "radius_m": 0.81}, "nearest_teammate": {"battery_percent": 29.3, "distance_m": 0.73, "radio_link_degraded": true}, "position": [-2.8, -3.68], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.43782942204683545, "hold_position": 0.18175863018273697, "move_to_target": 0.012113721423251674, "request_swarm_help": 0.003329025435337992, "return_to_base": 0.3649692009118378}}} |
{"battery_percent": 29.4, "distance_to_base": 1.08, "distance_to_target": 3.55, "heading_to_target_deg": -83.81, "nearest_obstacle": {"clearance_m": 7.25, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 46.6, "distance_m": 1.77, "radio_link_degraded": false}, "position": [0.88, -0.63], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007650175141179425, "hold_position": 0.05652757328481945, "move_to_target": 0.24795866930155042, "request_swarm_help": 0.6813215085431827, "return_to_base": 0.006542073729268041}}} |
{"battery_percent": 6.7, "distance_to_base": 13.02, "distance_to_target": 7.17, "heading_to_target_deg": 152.58, "nearest_obstacle": {"clearance_m": 1.5, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 62.9, "distance_m": 1.92, "radio_link_degraded": false}, "position": [2.91, -3.11], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.003189519837176317, "hold_position": 0.02356754100554796, "move_to_target": 0.018966979060809335, "request_swarm_help": 0.27979937390824833, "return_to_base": 0.6744765861882182}}} |
{"battery_percent": 81.2, "distance_to_base": 6.53, "distance_to_target": 12.75, "heading_to_target_deg": 179.24, "nearest_obstacle": {"clearance_m": 1.42, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 24.3, "distance_m": 5.49, "radio_link_degraded": true}, "position": [4.53, 4.71], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.04467385506313305, "hold_position": 0.3300976212169871, "move_to_target": 0.5770996231969638, "request_swarm_help": 0.03201021591677023, "return_to_base": 0.016118684606145725}}} |
{"battery_percent": 69.6, "distance_to_base": 14.03, "distance_to_target": 20.76, "heading_to_target_deg": 50.2, "nearest_obstacle": {"clearance_m": 1.33, "radius_m": 1.1}, "nearest_teammate": {"battery_percent": 74.8, "distance_m": 8.71, "radio_link_degraded": false}, "position": [-9.08, -6.19], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06519801148420838, "hold_position": 0.4817517643955406, "move_to_target": 0.3777875903298114, "request_swarm_help": 0.046716416615584795, "return_to_base": 0.02854621717485478}}} |
{"battery_percent": 70.9, "distance_to_base": 1.48, "distance_to_target": 7.54, "heading_to_target_deg": -105.72, "nearest_obstacle": {"clearance_m": 1.15, "radius_m": 0.59}, "nearest_teammate": {"battery_percent": 57.4, "distance_m": 7.83, "radio_link_degraded": false}, "position": [0.7, 1.3], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6604687268934513, "hold_position": 0.2943982303138973, "move_to_target": 0.036519113229907155, "request_swarm_help": 0.005392091675911739, "return_to_base": 0.0032218378868326255}}} |
{"battery_percent": 77.0, "distance_to_base": 4.63, "distance_to_target": 4.82, "heading_to_target_deg": 164.58, "nearest_obstacle": {"clearance_m": 1.28, "radius_m": 0.74}, "nearest_teammate": {"battery_percent": 26.3, "distance_m": 1.99, "radio_link_degraded": false}, "position": [2.64, 3.81], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.017686577432554355, "hold_position": 0.13068711284722495, "move_to_target": 0.8321157590256111, "request_swarm_help": 0.012672986507312975, "return_to_base": 0.006837564187296507}}} |
{"battery_percent": 46.2, "distance_to_base": 10.07, "distance_to_target": 7.4, "heading_to_target_deg": 88.22, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 69.1, "distance_m": 1.55, "radio_link_degraded": false}, "position": [7.36, -1.17], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6741126811771101, "hold_position": 0.29330636223857576, "move_to_target": 0.022366273398149467, "request_swarm_help": 0.005372093414530012, "return_to_base": 0.004842589771634674}}} |
{"battery_percent": 10.8, "distance_to_base": 14.35, "distance_to_target": 7.98, "heading_to_target_deg": -136.01, "nearest_obstacle": {"clearance_m": 5.36, "radius_m": 1.1}, "nearest_teammate": {"battery_percent": 32.7, "distance_m": 6.52, "radio_link_degraded": false}, "position": [4.91, 1.67], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.01519513283891687, "hold_position": 0.11227768897746004, "move_to_target": 0.1374547662097114, "request_swarm_help": 0.01088778844741192, "return_to_base": 0.7241846235264997}}} |
{"battery_percent": 16.0, "distance_to_base": 1.21, "distance_to_target": 4.67, "heading_to_target_deg": -37.35, "nearest_obstacle": {"clearance_m": 3.25, "radius_m": 0.48}, "nearest_teammate": {"battery_percent": 21.9, "distance_m": 2.55, "radio_link_degraded": false}, "position": [0.73, -0.97], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007901243124804022, "hold_position": 0.058382728700467, "move_to_target": 0.09951905133095215, "request_swarm_help": 0.0056614880913779635, "return_to_base": 0.8285354887523989}}} |
{"battery_percent": 33.0, "distance_to_base": 7.86, "distance_to_target": 3.68, "heading_to_target_deg": 174.4, "nearest_obstacle": {"clearance_m": 3.56, "radius_m": 0.84}, "nearest_teammate": {"battery_percent": 34.6, "distance_m": 3.56, "radio_link_degraded": false}, "position": [5.7, -5.42], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00864316808484166, "hold_position": 0.06386485385138199, "move_to_target": 0.27639950121084444, "request_swarm_help": 0.6441378974938657, "return_to_base": 0.006954579359066193}}} |
{"battery_percent": 16.4, "distance_to_base": 5.51, "distance_to_target": 9.96, "heading_to_target_deg": 82.85, "nearest_obstacle": {"clearance_m": 6.9, "radius_m": 0.92}, "nearest_teammate": {"battery_percent": 28.8, "distance_m": 6.7, "radio_link_degraded": false}, "position": [3.41, -1.46], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010895369409276616, "hold_position": 0.08050649578371778, "move_to_target": 0.049001695841647624, "request_swarm_help": 0.0078068733220145415, "return_to_base": 0.8517895656433432}}} |
{"battery_percent": 28.7, "distance_to_base": 8.12, "distance_to_target": 12.55, "heading_to_target_deg": 42.29, "nearest_obstacle": {"clearance_m": 2.15, "radius_m": 0.79}, "nearest_teammate": {"battery_percent": 74.8, "distance_m": 3.93, "radio_link_degraded": false}, "position": [-4.57, -5.13], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.03155142156598725, "hold_position": 0.2331352239520901, "move_to_target": 0.6854191941561157, "request_swarm_help": 0.022607581445142962, "return_to_base": 0.027286578880663968}}} |
{"battery_percent": 80.3, "distance_to_base": 8.26, "distance_to_target": 1.12, "heading_to_target_deg": -84.45, "nearest_obstacle": {"clearance_m": 1.61, "radius_m": 0.95}, "nearest_teammate": {"battery_percent": 71.0, "distance_m": 1.18, "radio_link_degraded": false}, "position": [-4.59, 6.87], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.012881694228558938, "hold_position": 0.09518356130409313, "move_to_target": 0.877991368048189, "request_swarm_help": 0.009230137248000148, "return_to_base": 0.00471323917115873}}} |
{"battery_percent": 54.6, "distance_to_base": 9.2, "distance_to_target": 4.29, "heading_to_target_deg": -122.29, "nearest_obstacle": {"clearance_m": 1.2, "radius_m": 0.75}, "nearest_teammate": {"battery_percent": 52.7, "distance_m": 3.38, "radio_link_degraded": false}, "position": [7.26, 5.65], "radio_link_degraded": t... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.016867581767403585, "hold_position": 0.12463550793264491, "move_to_target": 0.8369353466627325, "request_swarm_help": 0.012086150470008243, "return_to_base": 0.00947541316721069}}} |
{"battery_percent": 80.5, "distance_to_base": 9.33, "distance_to_target": 16.63, "heading_to_target_deg": 128.28, "nearest_obstacle": {"clearance_m": 4.03, "radius_m": 0.66}, "nearest_teammate": {"battery_percent": 83.8, "distance_m": 2.94, "radio_link_degraded": false}, "position": [5.82, -7.29], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.01033310011815109, "hold_position": 0.07635185644888533, "move_to_target": 0.09055702808553748, "request_swarm_help": 0.8189899331111757, "return_to_base": 0.0037680822362502696}}} |
{"battery_percent": 61.8, "distance_to_base": 3.78, "distance_to_target": 0.85, "heading_to_target_deg": 139.93, "nearest_obstacle": {"clearance_m": 1.25, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 46.8, "distance_m": 4.36, "radio_link_degraded": false}, "position": [2.08, 2.8], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.012567185037968212, "hold_position": 0.09285963525118902, "move_to_target": 0.8793093255220212, "request_swarm_help": 0.00900478156547868, "return_to_base": 0.006259072623342972}}} |
{"battery_percent": 22.2, "distance_to_base": 2.1, "distance_to_target": 15.85, "heading_to_target_deg": -50.61, "nearest_obstacle": {"clearance_m": 1.27, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 1.1, "distance_m": 3.87, "radio_link_degraded": false}, "position": [-6.67, 5.19], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010980495019456207, "hold_position": 0.08113549369279048, "move_to_target": 0.1040418300790763, "request_swarm_help": 0.7932537886489173, "return_to_base": 0.010588392559759676}}} |
{"battery_percent": 80.8, "distance_to_base": 7.22, "distance_to_target": 0.49, "heading_to_target_deg": 67.0, "nearest_obstacle": {"clearance_m": 4.92, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 27.2, "distance_m": 0.47, "radio_link_degraded": false}, "position": [4.71, 7.75], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.45233537204601, "hold_position": 0.034004430384163405, "move_to_target": 0.045180832453394854, "request_swarm_help": 0.46680766577187366, "return_to_base": 0.0016716993445580722}}} |
{"battery_percent": 38.1, "distance_to_base": 7.55, "distance_to_target": 7.25, "heading_to_target_deg": -26.43, "nearest_obstacle": {"clearance_m": 4.22, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 6.0, "distance_m": 3.95, "radio_link_degraded": false}, "position": [-6.5, -3.84], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009692818420962515, "hold_position": 0.07162077906924044, "move_to_target": 0.21691321614147593, "request_swarm_help": 0.6946079291157943, "return_to_base": 0.0071652572525268896}}} |
{"battery_percent": 0.5, "distance_to_base": 11.03, "distance_to_target": 14.06, "heading_to_target_deg": -46.93, "nearest_obstacle": {"clearance_m": 0.31, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 65.5, "distance_m": 10.37, "radio_link_degraded": false}, "position": [-5.14, 4.65], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.11112605947568072, "hold_position": 0.08384120390027605, "move_to_target": 0.0019933761831704175, "request_swarm_help": 0.002143109717570464, "return_to_base": 0.8008962507233025}}} |
{"battery_percent": 37.1, "distance_to_base": 3.23, "distance_to_target": 0.77, "heading_to_target_deg": 155.48, "nearest_obstacle": {"clearance_m": 3.73, "radius_m": 0.71}, "nearest_teammate": {"battery_percent": 20.6, "distance_m": 0.78, "radio_link_degraded": false}, "position": [2.64, -1.87], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.4459321421779659, "hold_position": 0.035269959499188805, "move_to_target": 0.0455626110075509, "request_swarm_help": 0.4696460757707402, "return_to_base": 0.003589211544554168}}} |
{"battery_percent": 45.8, "distance_to_base": 9.94, "distance_to_target": 19.33, "heading_to_target_deg": 168.49, "nearest_obstacle": {"clearance_m": 6.09, "radius_m": 0.53}, "nearest_teammate": {"battery_percent": 84.1, "distance_m": 4.42, "radio_link_degraded": false}, "position": [9.12, -3.94], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.060813355204874776, "hold_position": 0.44935329317301603, "move_to_target": 0.40672245895320835, "request_swarm_help": 0.04357467310533829, "return_to_base": 0.039536219563562576}}} |
{"battery_percent": 6.0, "distance_to_base": 3.62, "distance_to_target": 11.85, "heading_to_target_deg": 98.51, "nearest_obstacle": {"clearance_m": 0.73, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 21.0, "distance_m": 7.32, "radio_link_degraded": false}, "position": [-0.54, -3.58], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.07464590387904231, "hold_position": 0.060409775233154654, "move_to_target": 0.0010864503907602543, "request_swarm_help": 0.001544166475619932, "return_to_base": 0.8623137040214229}}} |
{"battery_percent": 96.7, "distance_to_base": 7.16, "distance_to_target": 14.35, "heading_to_target_deg": 11.27, "nearest_obstacle": {"clearance_m": 0.33, "radius_m": 1.17}, "nearest_teammate": {"battery_percent": 62.5, "distance_m": 7.9, "radio_link_degraded": false}, "position": [-7.16, -0.21], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.7074568055516278, "hold_position": 0.27507000339543924, "move_to_target": 0.010476567889170538, "request_swarm_help": 0.0050380828513137505, "return_to_base": 0.001958540312448478}}} |
{"battery_percent": 31.0, "distance_to_base": 4.52, "distance_to_target": 6.6, "heading_to_target_deg": 141.51, "nearest_obstacle": {"clearance_m": 3.31, "radius_m": 0.41}, "nearest_teammate": {"battery_percent": 85.3, "distance_m": 3.31, "radio_link_degraded": true}, "position": [0.31, -4.51], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009135481209206653, "hold_position": 0.06750258314555477, "move_to_target": 0.2181702430893816, "request_swarm_help": 0.697592436311841, "return_to_base": 0.0075992562440160925}}} |
{"battery_percent": 19.0, "distance_to_base": 5.19, "distance_to_target": 12.85, "heading_to_target_deg": 58.98, "nearest_obstacle": {"clearance_m": 3.53, "radius_m": 0.49}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 2.76, "radio_link_degraded": false}, "position": [-3.99, -2.56], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010967709460376823, "hold_position": 0.08104102047949674, "move_to_target": 0.06095287346321046, "request_swarm_help": 0.007858707233636353, "return_to_base": 0.8391796893632796}}} |
{"battery_percent": 88.3, "distance_to_base": 5.1, "distance_to_target": 12.62, "heading_to_target_deg": 56.54, "nearest_obstacle": {"clearance_m": 1.18, "radius_m": 0.61}, "nearest_teammate": {"battery_percent": 45.1, "distance_m": 3.78, "radio_link_degraded": false}, "position": [-2.97, -4.41], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.5113246407650769, "hold_position": 0.04324231278207958, "move_to_target": 0.017077277892456284, "request_swarm_help": 0.4264813885063953, "return_to_base": 0.001874380053991861}}} |
{"battery_percent": 55.9, "distance_to_base": 11.61, "distance_to_target": 16.19, "heading_to_target_deg": -65.35, "nearest_obstacle": {"clearance_m": 3.35, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 39.4, "distance_m": 1.95, "radio_link_degraded": false}, "position": [-6.61, 7.46], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00946955730344529, "hold_position": 0.06997109014719573, "move_to_target": 0.08667693304501034, "request_swarm_help": 0.8286768459552466, "return_to_base": 0.005205573549102109}}} |
{"battery_percent": 54.2, "distance_to_base": 10.98, "distance_to_target": 1.43, "heading_to_target_deg": 104.69, "nearest_obstacle": {"clearance_m": 8.99, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 38.2, "distance_m": 1.69, "radio_link_degraded": false}, "position": [-4.79, -9.88], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007201930564793908, "hold_position": 0.053215468963865455, "move_to_target": 0.28862582577992085, "request_swarm_help": 0.6468815906691323, "return_to_base": 0.004075184022287511}}} |
{"battery_percent": 61.5, "distance_to_base": 16.47, "distance_to_target": 4.16, "heading_to_target_deg": -1.3, "nearest_obstacle": {"clearance_m": 2.92, "radius_m": 0.78}, "nearest_teammate": {"battery_percent": 80.9, "distance_m": 3.63, "radio_link_degraded": false}, "position": [-1.53, 8.55], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008823623355154471, "hold_position": 0.06519824796707104, "move_to_target": 0.2689486021084668, "request_swarm_help": 0.6526121101944582, "return_to_base": 0.004417416374849366}}} |
{"battery_percent": 26.6, "distance_to_base": 6.61, "distance_to_target": 3.28, "heading_to_target_deg": -35.05, "nearest_obstacle": {"clearance_m": 2.04, "radius_m": 0.74}, "nearest_teammate": {"battery_percent": 56.2, "distance_m": 1.06, "radio_link_degraded": false}, "position": [-2.24, -3.75], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.015407436399004016, "hold_position": 0.11384641189294666, "move_to_target": 0.845910222773377, "request_swarm_help": 0.011039910595560646, "return_to_base": 0.013796018339111522}}} |
{"battery_percent": 12.2, "distance_to_base": 0.26, "distance_to_target": 5.27, "heading_to_target_deg": -51.09, "nearest_obstacle": {"clearance_m": 2.75, "radius_m": 0.6}, "nearest_teammate": {"battery_percent": 47.3, "distance_m": 2.7, "radio_link_degraded": false}, "position": [-0.23, 0.12], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.004633379192901821, "hold_position": 0.0342362987839696, "move_to_target": 0.033329192974743814, "request_swarm_help": 0.3760299410879264, "return_to_base": 0.5517711879604582}}} |
{"battery_percent": 48.4, "distance_to_base": 9.78, "distance_to_target": 3.49, "heading_to_target_deg": -75.63, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.88}, "nearest_teammate": {"battery_percent": 73.2, "distance_m": 2.52, "radio_link_degraded": false}, "position": [8.56, -4.73], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6669086272138348, "hold_position": 0.2903969656655275, "move_to_target": 0.0327520445457455, "request_swarm_help": 0.00531880595751394, "return_to_base": 0.004623556617378229}}} |
{"battery_percent": 50.4, "distance_to_base": 11.0, "distance_to_target": 13.78, "heading_to_target_deg": 130.28, "nearest_obstacle": {"clearance_m": 2.06, "radius_m": 0.78}, "nearest_teammate": {"battery_percent": 6.7, "distance_m": 3.95, "radio_link_degraded": false}, "position": [0.76, -5.73], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010840105282542768, "hold_position": 0.080098146051023, "move_to_target": 0.12625501073939946, "request_swarm_help": 0.7762710684584191, "return_to_base": 0.006535669468615666}}} |
{"battery_percent": 83.8, "distance_to_base": 8.95, "distance_to_target": 4.02, "heading_to_target_deg": 167.01, "nearest_obstacle": {"clearance_m": 1.06, "radius_m": 0.65}, "nearest_teammate": {"battery_percent": 66.2, "distance_m": 1.56, "radio_link_degraded": false}, "position": [1.73, 2.67], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6543737949495315, "hold_position": 0.2871730177348245, "move_to_target": 0.050659671602829574, "request_swarm_help": 0.005259757291419103, "return_to_base": 0.002533758421395288}}} |
{"battery_percent": 30.6, "distance_to_base": 9.51, "distance_to_target": 3.64, "heading_to_target_deg": -102.96, "nearest_obstacle": {"clearance_m": 4.7, "radius_m": 0.65}, "nearest_teammate": {"battery_percent": 33.5, "distance_m": 3.8, "radio_link_degraded": false}, "position": [9.4, -1.41], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008767834213069993, "hold_position": 0.06478601886649761, "move_to_target": 0.28145279811997637, "request_swarm_help": 0.6376504818130765, "return_to_base": 0.007342866987379572}}} |
{"battery_percent": 7.6, "distance_to_base": 2.43, "distance_to_target": 10.46, "heading_to_target_deg": -43.06, "nearest_obstacle": {"clearance_m": 4.3, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 20.6, "distance_m": 1.62, "radio_link_degraded": true}, "position": [-3.0, 0.65], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.002181550644911856, "hold_position": 0.061152409366580666, "move_to_target": 0.015398516152425292, "request_swarm_help": 0.0015631493426817862, "return_to_base": 0.9197043744934005}}} |
{"battery_percent": 16.4, "distance_to_base": 9.24, "distance_to_target": 7.42, "heading_to_target_deg": 102.47, "nearest_obstacle": {"clearance_m": 5.69, "radius_m": 1.07}, "nearest_teammate": {"battery_percent": 27.0, "distance_m": 7.11, "radio_link_degraded": false}, "position": [-6.46, -1.69], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.012545864918919345, "hold_position": 0.0927020996955011, "move_to_target": 0.12002375196192765, "request_swarm_help": 0.00898950503263501, "return_to_base": 0.7657387783910169}}} |
{"battery_percent": 76.7, "distance_to_base": 7.33, "distance_to_target": 6.49, "heading_to_target_deg": -16.89, "nearest_obstacle": {"clearance_m": 1.0, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 18.4, "distance_m": 10.48, "radio_link_degraded": false}, "position": [1.84, -7.09], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6636650961910586, "hold_position": 0.28845578413432155, "move_to_target": 0.03972990213507522, "request_swarm_help": 0.005283251977570891, "return_to_base": 0.0028659655619735864}}} |
{"battery_percent": 11.1, "distance_to_base": 0.68, "distance_to_target": 5.2, "heading_to_target_deg": -42.88, "nearest_obstacle": {"clearance_m": 3.65, "radius_m": 0.48}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 0.53, "radio_link_degraded": false}, "position": [0.63, -0.26], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.29943988425576074, "hold_position": 0.022727203155066024, "move_to_target": 0.0049699204784874685, "request_swarm_help": 0.31020702788188464, "return_to_base": 0.36265596422880114}}} |
{"battery_percent": 44.5, "distance_to_base": 13.6, "distance_to_target": 19.13, "heading_to_target_deg": 120.04, "nearest_obstacle": {"clearance_m": 2.75, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 30.3, "distance_m": 9.81, "radio_link_degraded": false}, "position": [9.6, -7.68], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06026835078616222, "hold_position": 0.44532622494898383, "move_to_target": 0.4111623475938179, "request_swarm_help": 0.04318416037492967, "return_to_base": 0.04005891629610626}}} |
{"battery_percent": 18.9, "distance_to_base": 2.79, "distance_to_target": 3.19, "heading_to_target_deg": -52.17, "nearest_obstacle": {"clearance_m": 1.54, "radius_m": 0.48}, "nearest_teammate": {"battery_percent": 13.0, "distance_m": 2.7, "radio_link_degraded": true}, "position": [2.48, -1.28], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008799673072199515, "hold_position": 0.06502127798273159, "move_to_target": 0.1284317210454712, "request_swarm_help": 0.006305241279043996, "return_to_base": 0.7914420866205538}}} |
{"battery_percent": 44.7, "distance_to_base": 10.07, "distance_to_target": 17.56, "heading_to_target_deg": 107.89, "nearest_obstacle": {"clearance_m": 1.42, "radius_m": 0.78}, "nearest_teammate": {"battery_percent": 24.4, "distance_m": 8.42, "radio_link_degraded": true}, "position": [4.83, -8.84], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.04361712448517538, "hold_position": 0.3222893796950025, "move_to_target": 0.5739368368792184, "request_swarm_help": 0.03125303537082282, "return_to_base": 0.02890362356978101}}} |
{"battery_percent": 34.6, "distance_to_base": 15.55, "distance_to_target": 19.69, "heading_to_target_deg": -59.56, "nearest_obstacle": {"clearance_m": 6.86, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 51.1, "distance_m": 4.45, "radio_link_degraded": false}, "position": [-9.84, 9.72], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06119822153286832, "hold_position": 0.4521970920611498, "move_to_target": 0.39475597914234517, "request_swarm_help": 0.04385044187973122, "return_to_base": 0.04799826538390556}}} |
{"battery_percent": 78.4, "distance_to_base": 7.28, "distance_to_target": 2.33, "heading_to_target_deg": -161.13, "nearest_obstacle": {"clearance_m": 1.13, "radius_m": 0.65}, "nearest_teammate": {"battery_percent": 82.4, "distance_m": 2.29, "radio_link_degraded": false}, "position": [0.02, 4.33], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6452977973381837, "hold_position": 0.28679909563883077, "move_to_target": 0.05988143489825238, "request_swarm_help": 0.005252908669336362, "return_to_base": 0.0027687634553967473}}} |
{"battery_percent": 91.0, "distance_to_base": 10.32, "distance_to_target": 19.72, "heading_to_target_deg": 9.09, "nearest_obstacle": {"clearance_m": 5.49, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 88.4, "distance_m": 13.44, "radio_link_degraded": false}, "position": [-10.05, -2.33], "radio_link_degrade... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0631221896226491, "hold_position": 0.46641340020909233, "move_to_target": 0.4058980604747245, "request_swarm_help": 0.04522902525660399, "return_to_base": 0.019337324436930235}}} |
{"battery_percent": 19.7, "distance_to_base": 10.35, "distance_to_target": 11.88, "heading_to_target_deg": 27.36, "nearest_obstacle": {"clearance_m": 12.74, "radius_m": 0.87}, "nearest_teammate": {"battery_percent": 72.6, "distance_m": 2.25, "radio_link_degraded": false}, "position": [-8.08, -6.46], "radio_link_degrade... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.014520384847456068, "hold_position": 0.10729193821591547, "move_to_target": 0.088879190798722, "request_swarm_help": 0.01040431038478349, "return_to_base": 0.778904175753123}}} |
{"battery_percent": 20.8, "distance_to_base": 2.46, "distance_to_target": 2.42, "heading_to_target_deg": -171.03, "nearest_obstacle": {"clearance_m": 4.04, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 75.1, "distance_m": 1.81, "radio_link_degraded": true}, "position": [-2.46, -0.02], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007442389770973736, "hold_position": 0.05499223552783257, "move_to_target": 0.26993423916157444, "request_swarm_help": 0.6602930607575548, "return_to_base": 0.0073380747820645225}}} |
{"battery_percent": 20.9, "distance_to_base": 8.24, "distance_to_target": 0.63, "heading_to_target_deg": -59.49, "nearest_obstacle": {"clearance_m": 2.58, "radius_m": 0.54}, "nearest_teammate": {"battery_percent": 58.8, "distance_m": 1.32, "radio_link_degraded": false}, "position": [-5.47, 6.16], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.012247833112694716, "hold_position": 0.09049992596004161, "move_to_target": 0.8764122641965975, "request_swarm_help": 0.008775955911928191, "return_to_base": 0.012064020818738088}}} |
{"battery_percent": 74.4, "distance_to_base": 11.49, "distance_to_target": 19.92, "heading_to_target_deg": 125.83, "nearest_obstacle": {"clearance_m": 4.22, "radius_m": 1.04}, "nearest_teammate": {"battery_percent": 39.2, "distance_m": 15.19, "radio_link_degraded": false}, "position": [9.17, -6.92], "radio_link_degrade... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06323477233138465, "hold_position": 0.46724528015970895, "move_to_target": 0.3986699626934051, "request_swarm_help": 0.04530969429244223, "return_to_base": 0.025540290523058944}}} |
{"battery_percent": 76.3, "distance_to_base": 9.12, "distance_to_target": 9.69, "heading_to_target_deg": -161.16, "nearest_obstacle": {"clearance_m": 1.2, "radius_m": 0.42}, "nearest_teammate": {"battery_percent": 52.9, "distance_m": 9.87, "radio_link_degraded": false}, "position": [3.78, 6.74], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6637633842836775, "hold_position": 0.29800551153752686, "move_to_target": 0.02979442386675675, "request_swarm_help": 0.005458161336173848, "return_to_base": 0.0029785189758652444}}} |
{"battery_percent": 33.1, "distance_to_base": 0.76, "distance_to_target": 6.4, "heading_to_target_deg": -84.89, "nearest_obstacle": {"clearance_m": 1.05, "radius_m": 0.5}, "nearest_teammate": {"battery_percent": 92.0, "distance_m": 1.67, "radio_link_degraded": true}, "position": [-0.53, -0.54], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.659509535054541, "hold_position": 0.2890638197578564, "move_to_target": 0.040188974895125656, "request_swarm_help": 0.0052943885384830434, "return_to_base": 0.00594328175399396}}} |
{"battery_percent": 19.4, "distance_to_base": 9.23, "distance_to_target": 17.97, "heading_to_target_deg": 178.86, "nearest_obstacle": {"clearance_m": 6.85, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 76.7, "distance_m": 5.01, "radio_link_degraded": false}, "position": [9.17, -1.01], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.01445956345293941, "hold_position": 0.10684252551981671, "move_to_target": 0.029208337329396036, "request_swarm_help": 0.010360729951259542, "return_to_base": 0.8391288437465882}}} |
{"battery_percent": 59.9, "distance_to_base": 6.84, "distance_to_target": 1.17, "heading_to_target_deg": 128.02, "nearest_obstacle": {"clearance_m": 1.12, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 31.7, "distance_m": 0.94, "radio_link_degraded": false}, "position": [-3.6, 0.83], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6643273618319449, "hold_position": 0.285979227886465, "move_to_target": 0.04069321924496346, "request_swarm_help": 0.0052378922676475145, "return_to_base": 0.0037622987689792204}}} |
{"battery_percent": 0.0, "distance_to_base": 0.07, "distance_to_target": 11.57, "heading_to_target_deg": 126.35, "nearest_obstacle": {"clearance_m": 3.07, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 0.72, "radio_link_degraded": true}, "position": [-0.03, 0.06], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.049387546722944785, "hold_position": 0.010522682671708668, "move_to_target": 0.0012170025121478144, "request_swarm_help": 0.14087865547539985, "return_to_base": 0.7979941126177987}}} |
{"battery_percent": 1.6, "distance_to_base": 11.39, "distance_to_target": 21.54, "heading_to_target_deg": -52.8, "nearest_obstacle": {"clearance_m": 0.18, "radius_m": 0.73}, "nearest_teammate": {"battery_percent": 24.3, "distance_m": 4.43, "radio_link_degraded": false}, "position": [-9.07, 7.85], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.11725789524459941, "hold_position": 0.0866238430625933, "move_to_target": 0.0005913230779017918, "request_swarm_help": 0.002214238240919765, "return_to_base": 0.7933127003739857}}} |
{"battery_percent": 20.1, "distance_to_base": 10.73, "distance_to_target": 16.8, "heading_to_target_deg": -62.9, "nearest_obstacle": {"clearance_m": 1.61, "radius_m": 0.8}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 5.5, "radio_link_degraded": false}, "position": [-3.7, 5.65], "radio_link_degraded": fal... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.041146584773867595, "hold_position": 0.30403442317351337, "move_to_target": 0.5842744320095026, "request_swarm_help": 0.029482816313654864, "return_to_base": 0.04106174372946161}}} |
{"battery_percent": 74.4, "distance_to_base": 11.36, "distance_to_target": 19.82, "heading_to_target_deg": 125.57, "nearest_obstacle": {"clearance_m": 4.17, "radius_m": 1.04}, "nearest_teammate": {"battery_percent": 44.0, "distance_m": 13.77, "radio_link_degraded": false}, "position": [9.04, -6.89], "radio_link_degrade... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06297990739320883, "hold_position": 0.4653620688338773, "move_to_target": 0.4010935966708988, "request_swarm_help": 0.0451270755842718, "return_to_base": 0.02543735151774333}}} |
{"battery_percent": 12.7, "distance_to_base": 3.57, "distance_to_target": 10.31, "heading_to_target_deg": 128.96, "nearest_obstacle": {"clearance_m": 2.33, "radius_m": 0.77}, "nearest_teammate": {"battery_percent": 13.3, "distance_m": 3.57, "radio_link_degraded": false}, "position": [-0.85, -3.98], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009009827340966616, "hold_position": 0.06657411966408147, "move_to_target": 0.06455287562314249, "request_swarm_help": 0.006455823392666365, "return_to_base": 0.8534073539791429}}} |
{"battery_percent": 65.8, "distance_to_base": 8.12, "distance_to_target": 9.48, "heading_to_target_deg": -160.21, "nearest_obstacle": {"clearance_m": 1.07, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 84.2, "distance_m": 6.95, "radio_link_degraded": false}, "position": [0.71, 8.09], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6757315971322478, "hold_position": 0.2969083959711964, "move_to_target": 0.018386807915214385, "request_swarm_help": 0.005438066963641732, "return_to_base": 0.0035351320176996532}}} |
{"battery_percent": 22.0, "distance_to_base": 11.29, "distance_to_target": 20.55, "heading_to_target_deg": 126.53, "nearest_obstacle": {"clearance_m": 2.73, "radius_m": 0.69}, "nearest_teammate": {"battery_percent": 80.9, "distance_m": 2.38, "radio_link_degraded": false}, "position": [9.1, -6.69], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06252320853705214, "hold_position": 0.461987495365418, "move_to_target": 0.37021930424441735, "request_swarm_help": 0.044799836554332284, "return_to_base": 0.06047015529878022}}} |
{"battery_percent": 74.4, "distance_to_base": 11.69, "distance_to_target": 20.12, "heading_to_target_deg": 125.9, "nearest_obstacle": {"clearance_m": 4.39, "radius_m": 1.04}, "nearest_teammate": {"battery_percent": 46.4, "distance_m": 13.3, "radio_link_degraded": false}, "position": [9.31, -7.07], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06374474131964368, "hold_position": 0.4710134696226699, "move_to_target": 0.39382042090763025, "request_swarm_help": 0.04567510303995146, "return_to_base": 0.02574626511010465}}} |
{"battery_percent": 0.0, "distance_to_base": 3.38, "distance_to_target": 3.61, "heading_to_target_deg": -161.26, "nearest_obstacle": {"clearance_m": 3.91, "radius_m": 1.04}, "nearest_teammate": {"battery_percent": 41.7, "distance_m": 3.77, "radio_link_degraded": true}, "position": [-1.29, -5.29], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0020508344665886866, "hold_position": 0.05748822248817963, "move_to_target": 0.01741274733400252, "request_swarm_help": 0.0014694871081146889, "return_to_base": 0.9215787086031143}}} |
{"battery_percent": 36.4, "distance_to_base": 18.31, "distance_to_target": 20.0, "heading_to_target_deg": -50.12, "nearest_obstacle": {"clearance_m": 4.31, "radius_m": 1.18}, "nearest_teammate": {"battery_percent": 69.5, "distance_m": 19.5, "radio_link_degraded": false}, "position": [-10.23, 9.24], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06202959223791334, "hold_position": 0.45834013683973496, "move_to_target": 0.38797798711157266, "request_swarm_help": 0.044446145020589786, "return_to_base": 0.047206138790189166}}} |
{"battery_percent": 15.8, "distance_to_base": 7.68, "distance_to_target": 4.99, "heading_to_target_deg": 16.4, "nearest_obstacle": {"clearance_m": 1.77, "radius_m": 0.58}, "nearest_teammate": {"battery_percent": 11.1, "distance_m": 8.04, "radio_link_degraded": false}, "position": [-3.81, 6.66], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.011780049483541872, "hold_position": 0.08704344648206988, "move_to_target": 0.08716847202092612, "request_swarm_help": 0.008440774295066341, "return_to_base": 0.8055672577183958}}} |
{"battery_percent": 24.0, "distance_to_base": 2.55, "distance_to_target": 5.72, "heading_to_target_deg": -4.78, "nearest_obstacle": {"clearance_m": 6.81, "radius_m": 0.45}, "nearest_teammate": {"battery_percent": 90.2, "distance_m": 4.65, "radio_link_degraded": false}, "position": [1.87, 1.73], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.018847096526625962, "hold_position": 0.13926225353720018, "move_to_target": 0.8107417644465866, "request_swarm_help": 0.013504534774734003, "return_to_base": 0.01764435071485337}}} |
{"battery_percent": 17.5, "distance_to_base": 13.63, "distance_to_target": 2.19, "heading_to_target_deg": 132.84, "nearest_obstacle": {"clearance_m": 4.23, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 60.1, "distance_m": 1.36, "radio_link_degraded": false}, "position": [-3.65, 3.51], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.015723990512739646, "hold_position": 0.11618544799768657, "move_to_target": 0.15386734728793489, "request_swarm_help": 0.01126673152954317, "return_to_base": 0.7029564826720958}}} |
{"battery_percent": 74.6, "distance_to_base": 8.05, "distance_to_target": 9.98, "heading_to_target_deg": 89.16, "nearest_obstacle": {"clearance_m": 2.2, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 36.1, "distance_m": 10.77, "radio_link_degraded": false}, "position": [2.85, -7.53], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.03768009842955908, "hold_position": 0.2784203611092406, "move_to_target": 0.6417366055117383, "request_swarm_help": 0.02699897031028134, "return_to_base": 0.01516396463918065}}} |
{"battery_percent": 0.0, "distance_to_base": 4.55, "distance_to_target": 11.24, "heading_to_target_deg": -94.32, "nearest_obstacle": {"clearance_m": 2.29, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 7.7, "distance_m": 4.38, "radio_link_degraded": false}, "position": [-2.83, 3.57], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0022130956050383766, "hold_position": 0.062036665856160106, "move_to_target": 0.014443973372372515, "request_swarm_help": 0.0015857522943032415, "return_to_base": 0.9197205128721259}}} |
{"battery_percent": 32.6, "distance_to_base": 10.0, "distance_to_target": 2.32, "heading_to_target_deg": -103.86, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 15.6, "distance_m": 12.68, "radio_link_degraded": false}, "position": [8.9, 4.55], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6478441842826491, "hold_position": 0.282145001519572, "move_to_target": 0.05900086721420872, "request_swarm_help": 0.005167665962093837, "return_to_base": 0.00584228102147623}}} |
{"battery_percent": 21.5, "distance_to_base": 19.81, "distance_to_target": 3.44, "heading_to_target_deg": 177.39, "nearest_obstacle": {"clearance_m": 3.03, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 82.1, "distance_m": 3.8, "radio_link_degraded": false}, "position": [6.07, 8.29], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008706635148673153, "hold_position": 0.0643338155464673, "move_to_target": 0.2851844553711254, "request_swarm_help": 0.6332868714282377, "return_to_base": 0.008488222505496414}}} |
{"battery_percent": 63.2, "distance_to_base": 17.82, "distance_to_target": 12.96, "heading_to_target_deg": 167.68, "nearest_obstacle": {"clearance_m": 8.28, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 4.7, "distance_m": 0.81, "radio_link_degraded": false}, "position": [8.38, 6.87], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.31660176644129195, "hold_position": 0.025165907276304262, "move_to_target": 0.005829239589225374, "request_swarm_help": 0.6507439497682942, "return_to_base": 0.0016591369248843094}}} |
{"battery_percent": 83.8, "distance_to_base": 0.76, "distance_to_target": 4.69, "heading_to_target_deg": 141.96, "nearest_obstacle": {"clearance_m": 2.9, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 51.2, "distance_m": 2.92, "radio_link_degraded": false}, "position": [-0.68, -0.33], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00854025539292008, "hold_position": 0.06310442619748147, "move_to_target": 0.24688995598293023, "request_swarm_help": 0.6785155272251258, "return_to_base": 0.0029498352015424265}}} |
{"battery_percent": 63.5, "distance_to_base": 0.28, "distance_to_target": 4.62, "heading_to_target_deg": -72.39, "nearest_obstacle": {"clearance_m": 6.91, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 1.2, "distance_m": 0.65, "radio_link_degraded": false}, "position": [-0.14, 0.25], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.4555218167762712, "hold_position": 0.03529955518526647, "move_to_target": 0.0310264565960039, "request_swarm_help": 0.4758396743696466, "return_to_base": 0.0023124970728120183}}} |
{"battery_percent": 12.4, "distance_to_base": 7.42, "distance_to_target": 16.48, "heading_to_target_deg": -121.56, "nearest_obstacle": {"clearance_m": 0.95, "radius_m": 0.74}, "nearest_teammate": {"battery_percent": 6.0, "distance_m": 10.53, "radio_link_degraded": false}, "position": [3.32, 6.64], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.44325659830542097, "hold_position": 0.1911585924940035, "move_to_target": 0.002555640220465471, "request_swarm_help": 0.0035011917505988603, "return_to_base": 0.35952797722951113}}} |
{"battery_percent": 72.3, "distance_to_base": 5.61, "distance_to_target": 20.2, "heading_to_target_deg": 31.74, "nearest_obstacle": {"clearance_m": 4.94, "radius_m": 0.71}, "nearest_teammate": {"battery_percent": 14.5, "distance_m": 4.87, "radio_link_degraded": false}, "position": [-8.73, -1.7], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06389129731185804, "hold_position": 0.47209638007077614, "move_to_target": 0.39151365010362804, "request_swarm_help": 0.04578011499712525, "return_to_base": 0.026718557516612507}}} |
{"battery_percent": 87.8, "distance_to_base": 13.19, "distance_to_target": 9.88, "heading_to_target_deg": -30.53, "nearest_obstacle": {"clearance_m": 1.17, "radius_m": 0.61}, "nearest_teammate": {"battery_percent": 18.7, "distance_m": 8.6, "radio_link_degraded": true}, "position": [0.45, 5.85], "radio_link_degraded": t... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.665325564369333, "hold_position": 0.29757472623212133, "move_to_target": 0.029192745181445615, "request_swarm_help": 0.005450271228081467, "return_to_base": 0.0024566929890185744}}} |
{"battery_percent": 13.8, "distance_to_base": 0.07, "distance_to_target": 5.07, "heading_to_target_deg": 1.77, "nearest_obstacle": {"clearance_m": 1.71, "radius_m": 0.9}, "nearest_teammate": {"battery_percent": 25.8, "distance_m": 4.28, "radio_link_degraded": false}, "position": [-7.26, 3.42], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0074738570996832066, "hold_position": 0.05522474938495034, "move_to_target": 0.05482836173737823, "request_swarm_help": 0.005355252622677229, "return_to_base": 0.8771177791553109}}} |
{"battery_percent": 83.6, "distance_to_base": 4.98, "distance_to_target": 8.63, "heading_to_target_deg": 64.16, "nearest_obstacle": {"clearance_m": 8.17, "radius_m": 0.96}, "nearest_teammate": {"battery_percent": 8.9, "distance_m": 7.02, "radio_link_degraded": false}, "position": [-0.07, -4.98], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0240405926850186, "hold_position": 0.1776372880011442, "move_to_target": 0.7727628805368041, "request_swarm_help": 0.017225837383567026, "return_to_base": 0.008333401393466297}}} |
{"battery_percent": 27.7, "distance_to_base": 2.34, "distance_to_target": 6.94, "heading_to_target_deg": 11.3, "nearest_obstacle": {"clearance_m": 3.07, "radius_m": 0.6}, "nearest_teammate": {"battery_percent": 6.0, "distance_m": 3.56, "radio_link_degraded": false}, "position": [-2.99, -9.46], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009359114515049193, "hold_position": 0.06915502218801461, "move_to_target": 0.21618817602882348, "request_swarm_help": 0.6970719828567861, "return_to_base": 0.008225704411326666}}} |
{"battery_percent": 5.6, "distance_to_base": 3.18, "distance_to_target": 9.88, "heading_to_target_deg": 83.85, "nearest_obstacle": {"clearance_m": 8.79, "radius_m": 0.6}, "nearest_teammate": {"battery_percent": 79.1, "distance_m": 2.32, "radio_link_degraded": false}, "position": [5.74, -4.2], "radio_link_degraded": fal... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0023192641014790493, "hold_position": 0.01713717255406467, "move_to_target": 0.017342212776732993, "request_swarm_help": 0.0016618253461995241, "return_to_base": 0.9615395252215236}}} |
{"battery_percent": 30.5, "distance_to_base": 12.03, "distance_to_target": 23.35, "heading_to_target_deg": -49.47, "nearest_obstacle": {"clearance_m": 1.69, "radius_m": 0.76}, "nearest_teammate": {"battery_percent": 60.8, "distance_m": 12.26, "radio_link_degraded": true}, "position": [-7.37, 9.51], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06935360901815679, "hold_position": 0.5124577076984633, "move_to_target": 0.3103155444003438, "request_swarm_help": 0.04969403236280205, "return_to_base": 0.05817910652023408}}} |
{"battery_percent": 54.2, "distance_to_base": 7.71, "distance_to_target": 5.15, "heading_to_target_deg": 104.94, "nearest_obstacle": {"clearance_m": 2.43, "radius_m": 0.62}, "nearest_teammate": {"battery_percent": 32.7, "distance_m": 2.62, "radio_link_degraded": false}, "position": [6.61, -0.98], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00844406410659311, "hold_position": 0.0623936633865832, "move_to_target": 0.23318063986741816, "request_swarm_help": 0.6912026867798066, "return_to_base": 0.004778945859598983}}} |
{"battery_percent": 14.9, "distance_to_base": 0.36, "distance_to_target": 11.79, "heading_to_target_deg": 54.95, "nearest_obstacle": {"clearance_m": 4.22, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 9.6, "distance_m": 3.49, "radio_link_degraded": false}, "position": [-0.23, -0.48], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0077878277835092095, "hold_position": 0.0575446963811603, "move_to_target": 0.048129925821321494, "request_swarm_help": 0.005580222448240823, "return_to_base": 0.8809573275657683}}} |
{"battery_percent": 17.6, "distance_to_base": 5.59, "distance_to_target": 7.95, "heading_to_target_deg": -120.35, "nearest_obstacle": {"clearance_m": 1.75, "radius_m": 0.87}, "nearest_teammate": {"battery_percent": 62.2, "distance_m": 2.41, "radio_link_degraded": false}, "position": [5.39, 1.46], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.005757813871717548, "hold_position": 0.04254480970532203, "move_to_target": 0.03168398115306951, "request_swarm_help": 0.48118166261946826, "return_to_base": 0.4388317326504226}}} |
{"battery_percent": 76.5, "distance_to_base": 11.27, "distance_to_target": 6.71, "heading_to_target_deg": -74.66, "nearest_obstacle": {"clearance_m": 1.03, "radius_m": 0.42}, "nearest_teammate": {"battery_percent": 72.7, "distance_m": 3.58, "radio_link_degraded": false}, "position": [-7.93, 7.18], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.5059782805932341, "hold_position": 0.04176786318214467, "move_to_target": 0.02979285687106625, "request_swarm_help": 0.42025706642332467, "return_to_base": 0.0022039329302302054}}} |
{"battery_percent": 25.7, "distance_to_base": 7.81, "distance_to_target": 0.84, "heading_to_target_deg": 37.69, "nearest_obstacle": {"clearance_m": 1.19, "radius_m": 1.11}, "nearest_teammate": {"battery_percent": 56.2, "distance_m": 4.11, "radio_link_degraded": false}, "position": [-4.96, -6.04], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6346551165338861, "hold_position": 0.28455246225269404, "move_to_target": 0.06896734742381798, "request_swarm_help": 0.005211760143520508, "return_to_base": 0.006613313646081443}}} |
{"battery_percent": 53.2, "distance_to_base": 11.42, "distance_to_target": 10.03, "heading_to_target_deg": -128.28, "nearest_obstacle": {"clearance_m": 1.49, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 45.3, "distance_m": 1.43, "radio_link_degraded": false}, "position": [1.61, 5.52], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.026575468215937106, "hold_position": 0.19636762550290776, "move_to_target": 0.742721204190876, "request_swarm_help": 0.019042155069877498, "return_to_base": 0.015293547020401683}}} |
{"battery_percent": 6.0, "distance_to_base": 3.75, "distance_to_target": 5.95, "heading_to_target_deg": -112.1, "nearest_obstacle": {"clearance_m": 5.47, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 30.0, "distance_m": 3.38, "radio_link_degraded": false}, "position": [3.5, 1.35], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.002398807605468565, "hold_position": 0.017724923967348725, "move_to_target": 0.02657780882130329, "request_swarm_help": 0.0017188207573607627, "return_to_base": 0.9515796388485187}}} |
{"battery_percent": 22.8, "distance_to_base": 3.5, "distance_to_target": 2.28, "heading_to_target_deg": 66.18, "nearest_obstacle": {"clearance_m": 1.57, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 44.8, "distance_m": 9.01, "radio_link_degraded": false}, "position": [-5.85, 1.01], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.014137324066915428, "hold_position": 0.10446148061920048, "move_to_target": 0.857785787960836, "request_swarm_help": 0.01012983534167328, "return_to_base": 0.013485572011374588}}} |
{"battery_percent": 31.6, "distance_to_base": 7.35, "distance_to_target": 13.72, "heading_to_target_deg": -27.8, "nearest_obstacle": {"clearance_m": 3.54, "radius_m": 1.07}, "nearest_teammate": {"battery_percent": 58.6, "distance_m": 1.18, "radio_link_degraded": false}, "position": [-2.53, 6.91], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008663719620446073, "hold_position": 0.06401671030088218, "move_to_target": 0.10155871574490605, "request_swarm_help": 0.8186164045925765, "return_to_base": 0.007144449741189154}}} |
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