state stringlengths 409 422 | questions stringclasses 1
value | gold stringlengths 229 240 |
|---|---|---|
{"battery_percent": 51.3, "distance_to_base": 10.04, "distance_to_target": 10.01, "heading_to_target_deg": 43.79, "nearest_obstacle": {"clearance_m": 7.74, "radius_m": 0.56}, "nearest_teammate": {"battery_percent": 53.6, "distance_m": 3.22, "radio_link_degraded": false}, "position": [-9.5, -3.25], "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": 0.009705063101384914, "hold_position": 0.07171125569979506, "move_to_target": 0.16488042151638083, "request_swarm_help": 0.7479465837983202, "return_to_base": 0.00575667588411909}}} |
{"battery_percent": 28.4, "distance_to_base": 7.28, "distance_to_target": 7.97, "heading_to_target_deg": -45.94, "nearest_obstacle": {"clearance_m": 1.88, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 16.0, "distance_m": 1.46, "radio_link_degraded": false}, "position": [1.28, 2.2], "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": 0.008195755721710114, "hold_position": 0.060558898800847895, "move_to_target": 0.17070281209289534, "request_swarm_help": 0.7534186798259108, "return_to_base": 0.00712385355863579}}} |
{"battery_percent": 4.7, "distance_to_base": 6.85, "distance_to_target": 12.78, "heading_to_target_deg": 66.74, "nearest_obstacle": {"clearance_m": 2.91, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 78.0, "distance_m": 2.36, "radio_link_degraded": false}, "position": [-3.84, -5.67], "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": 0.0029027172404453845, "hold_position": 0.021448340528984106, "move_to_target": 0.016246916540492914, "request_swarm_help": 0.0020798877885214633, "return_to_base": 0.9573221379015562}}} |
{"battery_percent": 78.0, "distance_to_base": 8.61, "distance_to_target": 5.05, "heading_to_target_deg": -87.29, "nearest_obstacle": {"clearance_m": 3.7, "radius_m": 0.43}, "nearest_teammate": {"battery_percent": 64.9, "distance_m": 3.39, "radio_link_degraded": false}, "position": [8.55, -0.96], "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": 0.008894532560576788, "hold_position": 0.06572220006386714, "move_to_target": 0.24808795524352537, "request_swarm_help": 0.6739134751516311, "return_to_base": 0.0033818369803996404}}} |
{"battery_percent": 14.8, "distance_to_base": 13.24, "distance_to_target": 3.2, "heading_to_target_deg": 1.19, "nearest_obstacle": {"clearance_m": 4.32, "radius_m": 0.91}, "nearest_teammate": {"battery_percent": 29.5, "distance_m": 6.35, "radio_link_degraded": false}, "position": [3.53, 5.95], "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": 0.013961466950847025, "hold_position": 0.1031620625231749, "move_to_target": 0.20353685019197795, "request_swarm_help": 0.010003828211823067, "return_to_base": 0.669335792122177}}} |
{"battery_percent": 34.2, "distance_to_base": 3.27, "distance_to_target": 10.74, "heading_to_target_deg": 172.42, "nearest_obstacle": {"clearance_m": 4.1, "radius_m": 0.66}, "nearest_teammate": {"battery_percent": 49.2, "distance_m": 9.16, "radio_link_degraded": true}, "position": [3.22, -0.56], "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": 0.0389310326181364, "hold_position": 0.28766358400470876, "move_to_target": 0.6147839751576051, "request_swarm_help": 0.02789530382386421, "return_to_base": 0.03072610439568554}}} |
{"battery_percent": 28.1, "distance_to_base": 8.65, "distance_to_target": 14.37, "heading_to_target_deg": 128.7, "nearest_obstacle": {"clearance_m": 0.98, "radius_m": 1.06}, "nearest_teammate": {"battery_percent": 55.3, "distance_m": 6.01, "radio_link_degraded": false}, "position": [8.17, -2.85], "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": 0.6764725748459048, "hold_position": 0.2932412262547428, "move_to_target": 0.0183674078004259, "request_swarm_help": 0.005370900407371465, "return_to_base": 0.0065478906915550136}}} |
{"battery_percent": 17.3, "distance_to_base": 7.21, "distance_to_target": 2.85, "heading_to_target_deg": 123.96, "nearest_obstacle": {"clearance_m": 4.14, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 94.9, "distance_m": 7.22, "radio_link_degraded": false}, "position": [-0.23, -7.21], "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": 0.010748226797838111, "hold_position": 0.07941925077325553, "move_to_target": 0.1622976012239289, "request_swarm_help": 0.00770144103379926, "return_to_base": 0.7398334801711782}}} |
{"battery_percent": 61.6, "distance_to_base": 3.37, "distance_to_target": 0.18, "heading_to_target_deg": -117.82, "nearest_obstacle": {"clearance_m": 1.93, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 82.1, "distance_m": 0.75, "radio_link_degraded": false}, "position": [-4.87, -3.47], "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": 0.6686739606106149, "hold_position": 0.27887039924148294, "move_to_target": 0.043787062422403454, "request_swarm_help": 0.005107689529264133, "return_to_base": 0.003560888196234582}}} |
{"battery_percent": 13.9, "distance_to_base": 5.57, "distance_to_target": 9.93, "heading_to_target_deg": -63.86, "nearest_obstacle": {"clearance_m": 1.61, "radius_m": 1.06}, "nearest_teammate": {"battery_percent": 12.2, "distance_m": 4.5, "radio_link_degraded": false}, "position": [1.63, 5.32], "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": 0.010550380589034743, "hold_position": 0.07795735403744672, "move_to_target": 0.04760661553736844, "request_swarm_help": 0.007559678030513333, "return_to_base": 0.8563259718056367}}} |
{"battery_percent": 19.5, "distance_to_base": 5.29, "distance_to_target": 4.11, "heading_to_target_deg": -69.25, "nearest_obstacle": {"clearance_m": 1.18, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 29.8, "distance_m": 3.85, "radio_link_degraded": false}, "position": [4.92, -1.94], "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": 0.35767266930650865, "hold_position": 0.030240087888784448, "move_to_target": 0.007376562512749217, "request_swarm_help": 0.29621898345947084, "return_to_base": 0.30849169683248695}}} |
{"battery_percent": 1.9, "distance_to_base": 8.03, "distance_to_target": 7.45, "heading_to_target_deg": 102.75, "nearest_obstacle": {"clearance_m": 4.08, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 14.7, "distance_m": 10.21, "radio_link_degraded": false}, "position": [6.15, -5.17], "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": 0.002788236437664624, "hold_position": 0.07815879793786448, "move_to_target": 0.02659599902271021, "request_swarm_help": 0.0019978587088694253, "return_to_base": 0.8904591078928914}}} |
{"battery_percent": 26.5, "distance_to_base": 1.21, "distance_to_target": 6.52, "heading_to_target_deg": -79.94, "nearest_obstacle": {"clearance_m": 0.86, "radius_m": 0.76}, "nearest_teammate": {"battery_percent": 85.4, "distance_m": 1.25, "radio_link_degraded": true}, "position": [-1.1, -0.5], "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": 0.6663700937389608, "hold_position": 0.2830608695898147, "move_to_target": 0.03888801568766405, "request_swarm_help": 0.005184440670938126, "return_to_base": 0.006496580312622163}}} |
{"battery_percent": 41.1, "distance_to_base": 10.18, "distance_to_target": 8.68, "heading_to_target_deg": 105.96, "nearest_obstacle": {"clearance_m": 1.96, "radius_m": 0.87}, "nearest_teammate": {"battery_percent": 77.4, "distance_m": 3.8, "radio_link_degraded": false}, "position": [-5.99, -8.23], "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": 0.009882670613319442, "hold_position": 0.0730236075690707, "move_to_target": 0.19165111582325162, "request_swarm_help": 0.718491720631716, "return_to_base": 0.006950885362642195}}} |
{"battery_percent": 98.3, "distance_to_base": 10.78, "distance_to_target": 6.13, "heading_to_target_deg": -170.19, "nearest_obstacle": {"clearance_m": 1.11, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 85.1, "distance_m": 7.61, "radio_link_degraded": false}, "position": [6.79, 8.37], "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": 0.6592460538173821, "hold_position": 0.2917402301010646, "move_to_target": 0.04164836759207963, "request_swarm_help": 0.005343408703847315, "return_to_base": 0.0020219397856264926}}} |
{"battery_percent": 71.6, "distance_to_base": 6.45, "distance_to_target": 8.28, "heading_to_target_deg": 88.5, "nearest_obstacle": {"clearance_m": 3.53, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 33.1, "distance_m": 8.27, "radio_link_degraded": false}, "position": [2.78, -5.82], "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": 0.03364969471268975, "hold_position": 0.2486394819439546, "move_to_target": 0.6793634813333511, "request_swarm_help": 0.024111059852891487, "return_to_base": 0.01423628215711305}}} |
{"battery_percent": 24.6, "distance_to_base": 8.97, "distance_to_target": 2.38, "heading_to_target_deg": -30.19, "nearest_obstacle": {"clearance_m": 7.16, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 69.3, "distance_m": 3.91, "radio_link_degraded": false}, "position": [-0.15, 1.98], "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": 0.008496160049886181, "hold_position": 0.06277860323410243, "move_to_target": 0.3094970969618052, "request_swarm_help": 0.6113611522968917, "return_to_base": 0.007866987457314545}}} |
{"battery_percent": 68.0, "distance_to_base": 2.14, "distance_to_target": 7.02, "heading_to_target_deg": 95.98, "nearest_obstacle": {"clearance_m": 1.15, "radius_m": 1.17}, "nearest_teammate": {"battery_percent": 34.0, "distance_m": 6.6, "radio_link_degraded": false}, "position": [1.94, -0.91], "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": 0.6692623360215275, "hold_position": 0.29821592944996517, "move_to_target": 0.023636023366342244, "request_swarm_help": 0.005462015274673792, "return_to_base": 0.0034236958874912207}}} |
{"battery_percent": 90.3, "distance_to_base": 9.78, "distance_to_target": 15.51, "heading_to_target_deg": -69.71, "nearest_obstacle": {"clearance_m": 7.72, "radius_m": 0.51}, "nearest_teammate": {"battery_percent": 38.3, "distance_m": 4.85, "radio_link_degraded": true}, "position": [-0.74, 8.06], "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": 0.039111013696671144, "hold_position": 0.28899347429074806, "move_to_target": 0.631757909926711, "request_swarm_help": 0.02802426590194519, "return_to_base": 0.012113336183924666}}} |
{"battery_percent": 69.2, "distance_to_base": 13.94, "distance_to_target": 3.0, "heading_to_target_deg": -151.25, "nearest_obstacle": {"clearance_m": 3.65, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 89.2, "distance_m": 3.32, "radio_link_degraded": false}, "position": [-2.51, 6.56], "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": 0.015151992181059065, "hold_position": 0.11195892023640405, "move_to_target": 0.8553536325735515, "request_swarm_help": 0.010856876815298063, "return_to_base": 0.006678578193687261}}} |
{"battery_percent": 71.8, "distance_to_base": 2.69, "distance_to_target": 11.3, "heading_to_target_deg": 40.19, "nearest_obstacle": {"clearance_m": 0.87, "radius_m": 0.45}, "nearest_teammate": {"battery_percent": 19.2, "distance_m": 2.71, "radio_link_degraded": true}, "position": [-0.04, -2.69], "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": 0.6785373317830434, "hold_position": 0.28850114467554344, "move_to_target": 0.0245678634009639, "request_swarm_help": 0.005284082784863712, "return_to_base": 0.0031095773555855463}}} |
{"battery_percent": 54.9, "distance_to_base": 11.94, "distance_to_target": 14.0, "heading_to_target_deg": -152.43, "nearest_obstacle": {"clearance_m": 3.74, "radius_m": 0.66}, "nearest_teammate": {"battery_percent": 79.8, "distance_m": 3.13, "radio_link_degraded": false}, "position": [7.34, 3.42], "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": 0.03513453787444385, "hold_position": 0.2596110713642693, "move_to_target": 0.660432984005005, "request_swarm_help": 0.02517499646957969, "return_to_base": 0.019646410286702137}}} |
{"battery_percent": 0.0, "distance_to_base": 9.25, "distance_to_target": 5.79, "heading_to_target_deg": -14.63, "nearest_obstacle": {"clearance_m": 1.98, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 3.6, "distance_m": 4.12, "radio_link_degraded": false}, "position": [-1.62, 3.77], "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": 0.0029000130328339126, "hold_position": 0.08129207752563729, "move_to_target": 0.03263138632831613, "request_swarm_help": 0.0020779501390975515, "return_to_base": 0.881098572974115}}} |
{"battery_percent": 4.1, "distance_to_base": 7.86, "distance_to_target": 6.71, "heading_to_target_deg": -135.69, "nearest_obstacle": {"clearance_m": 2.1, "radius_m": 0.96}, "nearest_teammate": {"battery_percent": 93.6, "distance_m": 7.02, "radio_link_degraded": true}, "position": [6.37, -4.6], "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": 0.0028783431157712886, "hold_position": 0.08068463453904233, "move_to_target": 0.017919479330606523, "request_swarm_help": 0.0020624229650246443, "return_to_base": 0.8964551200495553}}} |
{"battery_percent": 13.5, "distance_to_base": 0.46, "distance_to_target": 5.73, "heading_to_target_deg": -97.32, "nearest_obstacle": {"clearance_m": 1.23, "radius_m": 1.05}, "nearest_teammate": {"battery_percent": 17.0, "distance_m": 5.87, "radio_link_degraded": false}, "position": [0.39, -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": 0.0076386262334991765, "hold_position": 0.056442237758088744, "move_to_target": 0.052460057989985355, "request_swarm_help": 0.005473314866072489, "return_to_base": 0.8779857631523542}}} |
{"battery_percent": 60.1, "distance_to_base": 1.78, "distance_to_target": 0.99, "heading_to_target_deg": 35.07, "nearest_obstacle": {"clearance_m": 2.37, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 54.2, "distance_m": 6.64, "radio_link_degraded": false}, "position": [-6.2, 3.04], "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": 0.012713750602852687, "hold_position": 0.09394261643229183, "move_to_target": 0.8777172441159065, "request_swarm_help": 0.009109800381770334, "return_to_base": 0.00651658846717871}}} |
{"battery_percent": 64.5, "distance_to_base": 5.96, "distance_to_target": 11.65, "heading_to_target_deg": 3.41, "nearest_obstacle": {"clearance_m": 2.25, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 52.3, "distance_m": 3.21, "radio_link_degraded": false}, "position": [-5.94, -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": 0.00995983226259965, "hold_position": 0.0735937593242882, "move_to_target": 0.14364698256139682, "request_swarm_help": 0.7680564610980708, "return_to_base": 0.0047429647536443836}}} |
{"battery_percent": 10.4, "distance_to_base": 6.23, "distance_to_target": 4.03, "heading_to_target_deg": 147.87, "nearest_obstacle": {"clearance_m": 1.69, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 40.6, "distance_m": 10.13, "radio_link_degraded": false}, "position": [5.99, 4.86], "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": 0.0100403561989009, "hold_position": 0.0741887552069249, "move_to_target": 0.08178077698995329, "request_swarm_help": 0.007194229585826134, "return_to_base": 0.8267958820183948}}} |
{"battery_percent": 20.0, "distance_to_base": 10.1, "distance_to_target": 18.82, "heading_to_target_deg": 177.76, "nearest_obstacle": {"clearance_m": 7.76, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 4.3, "distance_m": 4.65, "radio_link_degraded": false}, "position": [10.01, -1.39], "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": 0.05832732443190956, "hold_position": 0.4309838723279081, "move_to_target": 0.41060312994119424, "request_swarm_help": 0.04179335421745874, "return_to_base": 0.0582923190815294}}} |
{"battery_percent": 62.3, "distance_to_base": 15.33, "distance_to_target": 19.54, "heading_to_target_deg": 39.51, "nearest_obstacle": {"clearance_m": 1.7, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 58.4, "distance_m": 6.36, "radio_link_degraded": false}, "position": [-7.91, -8.88], "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": 0.061934749997477785, "hold_position": 0.45763934220460833, "move_to_target": 0.40545945489767815, "request_swarm_help": 0.044378187585752744, "return_to_base": 0.03058826531448292}}} |
{"battery_percent": 55.9, "distance_to_base": 6.55, "distance_to_target": 14.07, "heading_to_target_deg": 19.45, "nearest_obstacle": {"clearance_m": 1.18, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 31.9, "distance_m": 5.73, "radio_link_degraded": false}, "position": [-5.68, 1.54], "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": 0.6706269076048402, "hold_position": 0.3002803067895524, "move_to_target": 0.019374732387251344, "request_swarm_help": 0.0054998256645557575, "return_to_base": 0.00421822755380043}}} |
{"battery_percent": 13.8, "distance_to_base": 16.2, "distance_to_target": 3.11, "heading_to_target_deg": 148.81, "nearest_obstacle": {"clearance_m": 3.95, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 55.5, "distance_m": 2.79, "radio_link_degraded": false}, "position": [6.64, 0.7], "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": 0.01566459806520671, "hold_position": 0.11574659387101285, "move_to_target": 0.23057966543202402, "request_swarm_help": 0.0112241749812742, "return_to_base": 0.6267849676504822}}} |
{"battery_percent": 11.0, "distance_to_base": 3.04, "distance_to_target": 4.52, "heading_to_target_deg": -123.23, "nearest_obstacle": {"clearance_m": 0.36, "radius_m": 1.05}, "nearest_teammate": {"battery_percent": 7.5, "distance_m": 3.14, "radio_link_degraded": true}, "position": [2.13, -2.16], "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": 0.41282628660203624, "hold_position": 0.16118088932668082, "move_to_target": 0.007130064623699395, "request_swarm_help": 0.002952130964672514, "return_to_base": 0.4159106284829111}}} |
{"battery_percent": 18.8, "distance_to_base": 10.38, "distance_to_target": 6.08, "heading_to_target_deg": -130.74, "nearest_obstacle": {"clearance_m": 2.91, "radius_m": 0.81}, "nearest_teammate": {"battery_percent": 28.9, "distance_m": 3.45, "radio_link_degraded": false}, "position": [-4.55, 5.57], "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": 0.006909647775853903, "hold_position": 0.05105577503963588, "move_to_target": 0.04585001495287381, "request_swarm_help": 0.5205811867774283, "return_to_base": 0.3756033754542082}}} |
{"battery_percent": 75.6, "distance_to_base": 8.08, "distance_to_target": 4.42, "heading_to_target_deg": -118.64, "nearest_obstacle": {"clearance_m": 1.18, "radius_m": 0.75}, "nearest_teammate": {"battery_percent": 54.9, "distance_m": 2.39, "radio_link_degraded": false}, "position": [2.19, -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": 0.47097019945439234, "hold_position": 0.0398177501745254, "move_to_target": 0.035719416118744164, "request_swarm_help": 0.4513593087123095, "return_to_base": 0.0021333255400284397}}} |
{"battery_percent": 4.8, "distance_to_base": 8.8, "distance_to_target": 7.43, "heading_to_target_deg": -121.0, "nearest_obstacle": {"clearance_m": 5.24, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 41.5, "distance_m": 6.49, "radio_link_degraded": false}, "position": [1.18, 8.72], "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": 0.0030438893683163736, "hold_position": 0.08532516499308065, "move_to_target": 0.029068375724535626, "request_swarm_help": 0.0021810420383213554, "return_to_base": 0.880381527875746}}} |
{"battery_percent": 77.2, "distance_to_base": 12.02, "distance_to_target": 22.84, "heading_to_target_deg": 147.58, "nearest_obstacle": {"clearance_m": 1.67, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 81.8, "distance_m": 5.75, "radio_link_degraded": false}, "position": [9.85, -6.9], "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": 0.07042277615059338, "hold_position": 0.5203578436191699, "move_to_target": 0.3315980112178207, "request_swarm_help": 0.05046012408942925, "return_to_base": 0.027161244922986747}}} |
{"battery_percent": 0.0, "distance_to_base": 0.07, "distance_to_target": 12.7, "heading_to_target_deg": 1.3, "nearest_obstacle": {"clearance_m": 7.48, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 10.3, "distance_m": 1.34, "radio_link_degraded": false}, "position": [-8.25, -5.91], "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": 0.0015031320415280591, "hold_position": 0.011106726978950973, "move_to_target": 0.005140026921044452, "request_swarm_help": 0.13979897607484265, "return_to_base": 0.8424511379836337}}} |
{"battery_percent": 8.4, "distance_to_base": 0.24, "distance_to_target": 9.05, "heading_to_target_deg": 48.67, "nearest_obstacle": {"clearance_m": 5.04, "radius_m": 0.62}, "nearest_teammate": {"battery_percent": 7.5, "distance_m": 1.27, "radio_link_degraded": false}, "position": [-2.2, 1.87], "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": 0.006934080023634349, "hold_position": 0.05123630628910857, "move_to_target": 0.0563198776846241, "request_swarm_help": 0.004968485446958253, "return_to_base": 0.8805412505556748}}} |
{"battery_percent": 76.6, "distance_to_base": 6.53, "distance_to_target": 6.26, "heading_to_target_deg": 119.44, "nearest_obstacle": {"clearance_m": 4.96, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 21.6, "distance_m": 4.52, "radio_link_degraded": true}, "position": [3.17, 1.26], "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": 0.01990285136421475, "hold_position": 0.14706328525886125, "move_to_target": 0.8110182694695987, "request_swarm_help": 0.014261016172156131, "return_to_base": 0.007754577735169366}}} |
{"battery_percent": 68.3, "distance_to_base": 0.67, "distance_to_target": 5.74, "heading_to_target_deg": -4.57, "nearest_obstacle": {"clearance_m": 2.88, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 15.2, "distance_m": 0.83, "radio_link_degraded": false}, "position": [-0.03, 0.67], "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": 0.45365972031919466, "hold_position": 0.036201398866334236, "move_to_target": 0.028461219713899248, "request_swarm_help": 0.47948576771302526, "return_to_base": 0.0021918933875466283}}} |
{"battery_percent": 19.0, "distance_to_base": 6.35, "distance_to_target": 1.27, "heading_to_target_deg": 178.0, "nearest_obstacle": {"clearance_m": 2.4, "radius_m": 0.81}, "nearest_teammate": {"battery_percent": 32.3, "distance_m": 1.22, "radio_link_degraded": true}, "position": [-1.8, -4.03], "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": 0.010246903781236903, "hold_position": 0.07571494687990406, "move_to_target": 0.18121013616801507, "request_swarm_help": 0.0073422273956931915, "return_to_base": 0.7254857857751509}}} |
{"battery_percent": 71.5, "distance_to_base": 11.62, "distance_to_target": 1.44, "heading_to_target_deg": 4.22, "nearest_obstacle": {"clearance_m": 2.28, "radius_m": 0.8}, "nearest_teammate": {"battery_percent": 16.4, "distance_m": 1.44, "radio_link_degraded": false}, "position": [-2.27, -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": 0.01324873456737648, "hold_position": 0.09789564295818647, "move_to_target": 0.8737511567296355, "request_swarm_help": 0.009493133143006528, "return_to_base": 0.00561133260179495}}} |
{"battery_percent": 24.7, "distance_to_base": 4.98, "distance_to_target": 4.34, "heading_to_target_deg": 28.89, "nearest_obstacle": {"clearance_m": 2.29, "radius_m": 0.78}, "nearest_teammate": {"battery_percent": 59.4, "distance_m": 3.4, "radio_link_degraded": false}, "position": [-2.5, -7.53], "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": 0.008699278858699772, "hold_position": 0.06427945950717402, "move_to_target": 0.2603873614838231, "request_swarm_help": 0.6585933512357125, "return_to_base": 0.008040548914590658}}} |
{"battery_percent": 12.6, "distance_to_base": 11.82, "distance_to_target": 4.79, "heading_to_target_deg": 90.0, "nearest_obstacle": {"clearance_m": 1.33, "radius_m": 0.96}, "nearest_teammate": {"battery_percent": 5.1, "distance_m": 2.48, "radio_link_degraded": false}, "position": [-1.66, -0.42], "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": 0.013108436754701061, "hold_position": 0.09685897454977052, "move_to_target": 0.16304801777489386, "request_swarm_help": 0.009392605367419576, "return_to_base": 0.717591965553215}}} |
{"battery_percent": 27.5, "distance_to_base": 5.91, "distance_to_target": 8.46, "heading_to_target_deg": -35.78, "nearest_obstacle": {"clearance_m": 7.94, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 70.8, "distance_m": 8.12, "radio_link_degraded": false}, "position": [-4.4, 3.95], "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": 0.02343482691384614, "hold_position": 0.17316125073513894, "move_to_target": 0.765928170239064, "request_swarm_help": 0.01679178724164808, "return_to_base": 0.02068396487030294}}} |
{"battery_percent": 16.9, "distance_to_base": 17.65, "distance_to_target": 0.22, "heading_to_target_deg": 11.54, "nearest_obstacle": {"clearance_m": 5.53, "radius_m": 1.16}, "nearest_teammate": {"battery_percent": 85.9, "distance_m": 0.62, "radio_link_degraded": false}, "position": [-3.44, 4.61], "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": 0.3988519728576004, "hold_position": 0.03073501680732409, "move_to_target": 0.011055731293183909, "request_swarm_help": 0.4157075154733114, "return_to_base": 0.14364976356858022}}} |
{"battery_percent": 4.5, "distance_to_base": 6.63, "distance_to_target": 4.18, "heading_to_target_deg": -46.94, "nearest_obstacle": {"clearance_m": 1.08, "radius_m": 0.43}, "nearest_teammate": {"battery_percent": 17.8, "distance_m": 2.35, "radio_link_degraded": false}, "position": [5.94, -2.95], "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": 0.07079723991759646, "hold_position": 0.01601447045702514, "move_to_target": 0.0038790743615954846, "request_swarm_help": 0.18217559178411727, "return_to_base": 0.7271336234796658}}} |
{"battery_percent": 37.9, "distance_to_base": 0.47, "distance_to_target": 6.5, "heading_to_target_deg": -87.74, "nearest_obstacle": {"clearance_m": 1.15, "radius_m": 0.5}, "nearest_teammate": {"battery_percent": 96.8, "distance_m": 4.11, "radio_link_degraded": true}, "position": [-0.22, -0.42], "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": 0.6563881346362787, "hold_position": 0.2924633167253557, "move_to_target": 0.040241034217665464, "request_swarm_help": 0.005356652497343104, "return_to_base": 0.005550861923357012}}} |
{"battery_percent": 71.1, "distance_to_base": 21.91, "distance_to_target": 4.36, "heading_to_target_deg": -49.39, "nearest_obstacle": {"clearance_m": 2.3, "radius_m": 0.91}, "nearest_teammate": {"battery_percent": 28.9, "distance_m": 6.26, "radio_link_degraded": false}, "position": [-6.06, 7.97], "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": 0.017003869602876746, "hold_position": 0.12564254639455788, "move_to_target": 0.8379164818826765, "request_swarm_help": 0.012183804971375087, "return_to_base": 0.0072532971485137305}}} |
{"battery_percent": 31.0, "distance_to_base": 8.2, "distance_to_target": 11.8, "heading_to_target_deg": 151.03, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 30.4, "distance_m": 5.28, "radio_link_degraded": false}, "position": [5.47, -6.11], "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": 0.6720966777242872, "hold_position": 0.292617238272301, "move_to_target": 0.023703694444465823, "request_swarm_help": 0.0053594716688141536, "return_to_base": 0.006222917890131742}}} |
{"battery_percent": 52.5, "distance_to_base": 11.46, "distance_to_target": 2.87, "heading_to_target_deg": -173.92, "nearest_obstacle": {"clearance_m": 2.68, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 66.6, "distance_m": 2.91, "radio_link_degraded": false}, "position": [-6.07, -6.24], "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": 0.008121101367727895, "hold_position": 0.06000727359124387, "move_to_target": 0.28174642760635826, "request_swarm_help": 0.6453984553281572, "return_to_base": 0.004726742106512684}}} |
{"battery_percent": 25.4, "distance_to_base": 3.61, "distance_to_target": 16.77, "heading_to_target_deg": 110.98, "nearest_obstacle": {"clearance_m": 6.26, "radius_m": 0.95}, "nearest_teammate": {"battery_percent": 27.6, "distance_m": 2.76, "radio_link_degraded": false}, "position": [-2.06, -10.11], "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": 0.010141782107681227, "hold_position": 0.07493819693678773, "move_to_target": 0.0876419686509738, "request_swarm_help": 0.8180025466276938, "return_to_base": 0.009275505676863522}}} |
{"battery_percent": 17.4, "distance_to_base": 6.29, "distance_to_target": 13.13, "heading_to_target_deg": -151.13, "nearest_obstacle": {"clearance_m": 1.07, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 9.8, "distance_m": 6.29, "radio_link_degraded": false}, "position": [2.7, 5.68], "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": 0.43926810281222534, "hold_position": 0.19315931244660642, "move_to_target": 0.0036096239811607873, "request_swarm_help": 0.003537836214768222, "return_to_base": 0.3604251245452391}}} |
{"battery_percent": 61.5, "distance_to_base": 7.63, "distance_to_target": 11.53, "heading_to_target_deg": -156.66, "nearest_obstacle": {"clearance_m": 2.03, "radius_m": 0.53}, "nearest_teammate": {"battery_percent": 32.5, "distance_m": 8.59, "radio_link_degraded": false}, "position": [5.58, 5.2], "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": 0.029715714505481522, "hold_position": 0.21957108150081017, "move_to_target": 0.7145426123067227, "request_swarm_help": 0.021292239859249232, "return_to_base": 0.014878351827736445}}} |
{"battery_percent": 77.0, "distance_to_base": 6.01, "distance_to_target": 3.7, "heading_to_target_deg": 152.3, "nearest_obstacle": {"clearance_m": 1.4, "radius_m": 0.59}, "nearest_teammate": {"battery_percent": 30.9, "distance_m": 5.23, "radio_link_degraded": false}, "position": [-5.52, -2.38], "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": 0.016101808159722328, "hold_position": 0.11897716378640757, "move_to_target": 0.8471544580496297, "request_swarm_help": 0.011537449703293564, "return_to_base": 0.006229120300946735}}} |
{"battery_percent": 55.7, "distance_to_base": 4.02, "distance_to_target": 0.4, "heading_to_target_deg": -40.24, "nearest_obstacle": {"clearance_m": 4.63, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 21.1, "distance_m": 0.76, "radio_link_degraded": false}, "position": [0.96, -3.9], "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": 0.4459122586791186, "hold_position": 0.03517386262317592, "move_to_target": 0.047168453789536574, "request_swarm_help": 0.4691212649486989, "return_to_base": 0.0026241599594700386}}} |
{"battery_percent": 0.0, "distance_to_base": 5.42, "distance_to_target": 9.43, "heading_to_target_deg": 143.56, "nearest_obstacle": {"clearance_m": 1.3, "radius_m": 0.86}, "nearest_teammate": {"battery_percent": 8.4, "distance_m": 2.95, "radio_link_degraded": false}, "position": [2.75, -4.67], "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": 0.00206403767497486, "hold_position": 0.015251290170695623, "move_to_target": 0.00979027932130574, "request_swarm_help": 0.16340102191795697, "return_to_base": 0.8094933709150668}}} |
{"battery_percent": 70.4, "distance_to_base": 5.33, "distance_to_target": 1.81, "heading_to_target_deg": -10.65, "nearest_obstacle": {"clearance_m": 1.4, "radius_m": 0.86}, "nearest_teammate": {"battery_percent": 27.7, "distance_m": 3.56, "radio_link_degraded": false}, "position": [4.22, -3.26], "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": 0.013676633011210193, "hold_position": 0.10105740856431893, "move_to_target": 0.8695659499268886, "request_swarm_help": 0.009799735775759193, "return_to_base": 0.005900272721822952}}} |
{"battery_percent": 83.4, "distance_to_base": 18.82, "distance_to_target": 3.99, "heading_to_target_deg": -73.8, "nearest_obstacle": {"clearance_m": 4.79, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 36.1, "distance_m": 3.81, "radio_link_degraded": false}, "position": [-2.85, 8.07], "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": 0.00889877628025008, "hold_position": 0.06575355714660126, "move_to_target": 0.2760343852437312, "request_swarm_help": 0.6462201736585848, "return_to_base": 0.003093107670832682}}} |
{"battery_percent": 76.7, "distance_to_base": 13.05, "distance_to_target": 8.89, "heading_to_target_deg": 41.17, "nearest_obstacle": {"clearance_m": 1.06, "radius_m": 1.0}, "nearest_teammate": {"battery_percent": 6.9, "distance_m": 2.62, "radio_link_degraded": false}, "position": [-4.9, -4.32], "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": 0.34440332522618766, "hold_position": 0.02854660180989404, "move_to_target": 0.009933526925648414, "request_swarm_help": 0.6156143801639493, "return_to_base": 0.0015021658743205053}}} |
{"battery_percent": 54.3, "distance_to_base": 7.13, "distance_to_target": 6.22, "heading_to_target_deg": -128.52, "nearest_obstacle": {"clearance_m": 1.09, "radius_m": 0.75}, "nearest_teammate": {"battery_percent": 75.0, "distance_m": 2.41, "radio_link_degraded": false}, "position": [3.95, 0.77], "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": 0.4775356131659273, "hold_position": 0.03977756154566672, "move_to_target": 0.02981034117579689, "request_swarm_help": 0.44983567884632103, "return_to_base": 0.0030408052662879185}}} |
{"battery_percent": 16.6, "distance_to_base": 12.97, "distance_to_target": 15.58, "heading_to_target_deg": 51.25, "nearest_obstacle": {"clearance_m": 1.05, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 3.15, "radio_link_degraded": false}, "position": [-5.53, -6.21], "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": 0.4015700502525892, "hold_position": 0.03324735036042064, "move_to_target": 0.00257487502782473, "request_swarm_help": 0.34921055857748456, "return_to_base": 0.2133971657816809}}} |
{"battery_percent": 34.9, "distance_to_base": 5.91, "distance_to_target": 16.75, "heading_to_target_deg": -127.1, "nearest_obstacle": {"clearance_m": 0.89, "radius_m": 1.16}, "nearest_teammate": {"battery_percent": 10.4, "distance_m": 5.17, "radio_link_degraded": false}, "position": [3.07, 8.48], "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": 0.6870514243908609, "hold_position": 0.2929628810895551, "move_to_target": 0.008776043245322492, "request_swarm_help": 0.005365802337839463, "return_to_base": 0.005843848936422185}}} |
{"battery_percent": 60.7, "distance_to_base": 8.54, "distance_to_target": 14.66, "heading_to_target_deg": 11.82, "nearest_obstacle": {"clearance_m": 1.02, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 36.7, "distance_m": 6.99, "radio_link_degraded": false}, "position": [-6.76, 3.22], "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": 0.6773734371603103, "hold_position": 0.2954057225254604, "move_to_target": 0.017979592624397498, "request_swarm_help": 0.005410544539441941, "return_to_base": 0.003830703150389795}}} |
{"battery_percent": 57.4, "distance_to_base": 3.53, "distance_to_target": 3.63, "heading_to_target_deg": -124.41, "nearest_obstacle": {"clearance_m": 6.99, "radius_m": 0.54}, "nearest_teammate": {"battery_percent": 81.4, "distance_m": 3.55, "radio_link_degraded": false}, "position": [-3.76, -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": 0.008647821264319901, "hold_position": 0.06389923645558514, "move_to_target": 0.27790259914358467, "request_swarm_help": 0.6449137924136223, "return_to_base": 0.004636550722887908}}} |
{"battery_percent": 20.0, "distance_to_base": 10.24, "distance_to_target": 18.94, "heading_to_target_deg": 177.36, "nearest_obstacle": {"clearance_m": 7.93, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 77.9, "distance_m": 4.99, "radio_link_degraded": false}, "position": [10.12, -1.53], "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": 0.05861454087236804, "hold_position": 0.433106130718991, "move_to_target": 0.4077008114706585, "request_swarm_help": 0.041999153789958804, "return_to_base": 0.0585793631480237}}} |
{"battery_percent": 34.9, "distance_to_base": 10.3, "distance_to_target": 10.6, "heading_to_target_deg": 96.65, "nearest_obstacle": {"clearance_m": 2.84, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 41.0, "distance_m": 6.09, "radio_link_degraded": false}, "position": [9.84, -3.05], "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": 0.027552868015749327, "hold_position": 0.2035896874548038, "move_to_target": 0.7276198793921889, "request_swarm_help": 0.0197424926293915, "return_to_base": 0.021495072507866555}}} |
{"battery_percent": 33.1, "distance_to_base": 7.83, "distance_to_target": 0.18, "heading_to_target_deg": 162.66, "nearest_obstacle": {"clearance_m": 7.09, "radius_m": 1.17}, "nearest_teammate": {"battery_percent": 54.0, "distance_m": 0.78, "radio_link_degraded": false}, "position": [-0.4, 7.82], "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": 0.6663712620041453, "hold_position": 0.27898850651222407, "move_to_target": 0.04380034843206028, "request_swarm_help": 0.00510985273938516, "return_to_base": 0.005730030312185418}}} |
{"battery_percent": 61.7, "distance_to_base": 15.37, "distance_to_target": 19.66, "heading_to_target_deg": 39.17, "nearest_obstacle": {"clearance_m": 1.6, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 50.0, "distance_m": 10.1, "radio_link_degraded": false}, "position": [-8.08, -8.86], "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": 0.06220573125864839, "hold_position": 0.45964163794515694, "move_to_target": 0.4025494172040248, "request_swarm_help": 0.044572354143960255, "return_to_base": 0.031030859448209665}}} |
{"battery_percent": 13.6, "distance_to_base": 7.54, "distance_to_target": 5.18, "heading_to_target_deg": 8.76, "nearest_obstacle": {"clearance_m": 7.49, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 84.7, "distance_m": 3.81, "radio_link_degraded": true}, "position": [3.49, 6.68], "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": 0.010796254514388103, "hold_position": 0.07977413026514699, "move_to_target": 0.12912824532358316, "request_swarm_help": 0.007735854396482699, "return_to_base": 0.7725655155003992}}} |
{"battery_percent": 30.8, "distance_to_base": 8.84, "distance_to_target": 0.27, "heading_to_target_deg": 85.69, "nearest_obstacle": {"clearance_m": 4.72, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 64.5, "distance_m": 0.89, "radio_link_degraded": true}, "position": [-4.11, 7.82], "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": 0.6437045530833572, "hold_position": 0.2748775010163143, "move_to_target": 0.07050975396651382, "request_swarm_help": 0.005034557047252475, "return_to_base": 0.005873634886562123}}} |
{"battery_percent": 0.0, "distance_to_base": 5.4, "distance_to_target": 12.09, "heading_to_target_deg": 79.47, "nearest_obstacle": {"clearance_m": 2.68, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 76.0, "distance_m": 8.64, "radio_link_degraded": false}, "position": [4.1, -3.51], "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": 0.0023333406698971344, "hold_position": 0.06540733040969875, "move_to_target": 0.013994924484436854, "request_swarm_help": 0.0016719116482165162, "return_to_base": 0.9165924927877507}}} |
{"battery_percent": 8.5, "distance_to_base": 9.94, "distance_to_target": 4.6, "heading_to_target_deg": 164.98, "nearest_obstacle": {"clearance_m": 1.3, "radius_m": 1.04}, "nearest_teammate": {"battery_percent": 63.8, "distance_m": 2.75, "radio_link_degraded": false}, "position": [-4.07, -0.23], "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": 0.011338394034433192, "hold_position": 0.08378002959220744, "move_to_target": 0.14369752761676508, "request_swarm_help": 0.008124314337294445, "return_to_base": 0.7530597344192999}}} |
{"battery_percent": 87.7, "distance_to_base": 5.37, "distance_to_target": 3.78, "heading_to_target_deg": 89.86, "nearest_obstacle": {"clearance_m": 2.42, "radius_m": 0.87}, "nearest_teammate": {"battery_percent": 10.2, "distance_m": 3.82, "radio_link_degraded": false}, "position": [2.46, -4.77], "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": 0.008854115125552117, "hold_position": 0.06542355336909496, "move_to_target": 0.2804977360978679, "request_swarm_help": 0.6423582979644962, "return_to_base": 0.0028662974429888278}}} |
{"battery_percent": 17.8, "distance_to_base": 8.19, "distance_to_target": 12.98, "heading_to_target_deg": 134.97, "nearest_obstacle": {"clearance_m": 1.08, "radius_m": 0.51}, "nearest_teammate": {"battery_percent": 88.0, "distance_m": 7.55, "radio_link_degraded": false}, "position": [4.8, -6.63], "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": 0.4601576003800917, "hold_position": 0.2027232544346699, "move_to_target": 0.0023319156910802112, "request_swarm_help": 0.003713005922574394, "return_to_base": 0.3310742235715837}}} |
{"battery_percent": 0.8, "distance_to_base": 1.06, "distance_to_target": 9.53, "heading_to_target_deg": -116.1, "nearest_obstacle": {"clearance_m": 3.4, "radius_m": 0.8}, "nearest_teammate": {"battery_percent": 41.7, "distance_m": 2.31, "radio_link_degraded": false}, "position": [-3.78, 7.59], "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": 0.0018717398631923898, "hold_position": 0.013830390851733348, "move_to_target": 0.014492659137766168, "request_swarm_help": 0.0013411602172264472, "return_to_base": 0.9684640499300817}}} |
{"battery_percent": 56.5, "distance_to_base": 6.98, "distance_to_target": 14.23, "heading_to_target_deg": 17.8, "nearest_obstacle": {"clearance_m": 1.02, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 32.5, "distance_m": 5.86, "radio_link_degraded": false}, "position": [-5.96, 1.88], "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": 0.6767972279394566, "hold_position": 0.2949665712009587, "move_to_target": 0.01873134684217841, "request_swarm_help": 0.00540250120236486, "return_to_base": 0.004102352815041466}}} |
{"battery_percent": 20.5, "distance_to_base": 7.47, "distance_to_target": 4.43, "heading_to_target_deg": -45.74, "nearest_obstacle": {"clearance_m": 2.55, "radius_m": 0.69}, "nearest_teammate": {"battery_percent": 40.2, "distance_m": 3.94, "radio_link_degraded": false}, "position": [6.33, 3.95], "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": 0.009029090814400557, "hold_position": 0.06671645854994517, "move_to_target": 0.267930150800191, "request_swarm_help": 0.6473756755773458, "return_to_base": 0.00894862425811748}}} |
{"battery_percent": 6.2, "distance_to_base": 3.56, "distance_to_target": 11.51, "heading_to_target_deg": 82.92, "nearest_obstacle": {"clearance_m": 2.26, "radius_m": 0.86}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 2.31, "radio_link_degraded": false}, "position": [2.79, -1.66], "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": 0.002012406964286655, "hold_position": 0.014869787952992815, "move_to_target": 0.007756509097855108, "request_swarm_help": 0.16980310404346954, "return_to_base": 0.8055581919413959}}} |
{"battery_percent": 90.4, "distance_to_base": 9.83, "distance_to_target": 19.18, "heading_to_target_deg": 10.91, "nearest_obstacle": {"clearance_m": 4.93, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 24.7, "distance_m": 15.9, "radio_link_degraded": false}, "position": [-9.41, -2.85], "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": 0.06172206580639104, "hold_position": 0.4560678067853127, "move_to_target": 0.41888590210694776, "request_swarm_help": 0.04422579270357503, "return_to_base": 0.01909843259777351}}} |
{"battery_percent": 6.5, "distance_to_base": 0.02, "distance_to_target": 7.05, "heading_to_target_deg": -90.21, "nearest_obstacle": {"clearance_m": 2.18, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 2.72, "radio_link_degraded": false}, "position": [0.02, -0.01], "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": 0.0019095071523145919, "hold_position": 0.014109455469761834, "move_to_target": 0.018946415160827387, "request_swarm_help": 0.001368221662397998, "return_to_base": 0.9636664005546983}}} |
{"battery_percent": 75.0, "distance_to_base": 10.5, "distance_to_target": 12.09, "heading_to_target_deg": -170.47, "nearest_obstacle": {"clearance_m": 0.35, "radius_m": 1.16}, "nearest_teammate": {"battery_percent": 56.7, "distance_m": 9.46, "radio_link_degraded": false}, "position": [7.21, -4.45], "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": 0.7044884398134822, "hold_position": 0.2745718952389475, "move_to_target": 0.013104903270355864, "request_swarm_help": 0.0050289596821919145, "return_to_base": 0.002805801995022619}}} |
{"battery_percent": 53.6, "distance_to_base": 10.14, "distance_to_target": 18.07, "heading_to_target_deg": 44.49, "nearest_obstacle": {"clearance_m": 3.75, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 44.5, "distance_m": 3.21, "radio_link_degraded": false}, "position": [-4.58, -9.04], "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": 0.01067656697342278, "hold_position": 0.07888975231061116, "move_to_target": 0.08103312445978532, "request_swarm_help": 0.8233006487860609, "return_to_base": 0.0060999074701196905}}} |
{"battery_percent": 15.0, "distance_to_base": 0.54, "distance_to_target": 10.27, "heading_to_target_deg": 28.66, "nearest_obstacle": {"clearance_m": 1.69, "radius_m": 0.45}, "nearest_teammate": {"battery_percent": 67.6, "distance_m": 3.87, "radio_link_degraded": true}, "position": [-0.43, -0.32], "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": 0.007826133112749649, "hold_position": 0.05782773660780591, "move_to_target": 0.056260644306489346, "request_swarm_help": 0.005607669416003432, "return_to_base": 0.8724778165569517}}} |
{"battery_percent": 24.8, "distance_to_base": 18.4, "distance_to_target": 14.03, "heading_to_target_deg": -15.71, "nearest_obstacle": {"clearance_m": 1.16, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 36.7, "distance_m": 8.17, "radio_link_degraded": false}, "position": [-9.91, 2.27], "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": 0.6692957102627755, "hold_position": 0.2988265710002546, "move_to_target": 0.019358148944103416, "request_swarm_help": 0.005473199564799348, "return_to_base": 0.00704637022806723}}} |
{"battery_percent": 50.7, "distance_to_base": 9.42, "distance_to_target": 7.86, "heading_to_target_deg": 63.83, "nearest_obstacle": {"clearance_m": 1.3, "radius_m": 1.0}, "nearest_teammate": {"battery_percent": 48.8, "distance_m": 5.35, "radio_link_degraded": true}, "position": [6.2, -7.1], "radio_link_degraded": false... | {"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": 0.03251440267663791, "hold_position": 0.2402507454008984, "move_to_target": 0.6844345392517989, "request_swarm_help": 0.02329758756241528, "return_to_base": 0.019502725108249682}}} |
{"battery_percent": 93.9, "distance_to_base": 17.51, "distance_to_target": 4.76, "heading_to_target_deg": -171.18, "nearest_obstacle": {"clearance_m": 1.13, "radius_m": 0.73}, "nearest_teammate": {"battery_percent": 90.6, "distance_m": 4.73, "radio_link_degraded": false}, "position": [9.16, -4.89], "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": 0.6544326400107346, "hold_position": 0.29052396142013565, "move_to_target": 0.0475563248075118, "request_swarm_help": 0.005321131965895744, "return_to_base": 0.0021659417957222322}}} |
{"battery_percent": 13.3, "distance_to_base": 1.77, "distance_to_target": 5.29, "heading_to_target_deg": 142.06, "nearest_obstacle": {"clearance_m": 4.64, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 2.16, "radio_link_degraded": false}, "position": [1.52, -0.91], "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": 0.0048311444995926475, "hold_position": 0.035697597729530336, "move_to_target": 0.03466438091826288, "request_swarm_help": 0.41409326561777215, "return_to_base": 0.5107136112348419}}} |
{"battery_percent": 37.5, "distance_to_base": 3.76, "distance_to_target": 2.6, "heading_to_target_deg": 159.42, "nearest_obstacle": {"clearance_m": 4.63, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 13.8, "distance_m": 3.57, "radio_link_degraded": true}, "position": [8.58, -0.27], "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": 0.008390065050959686, "hold_position": 0.06199466133521857, "move_to_target": 0.29886491098678436, "request_swarm_help": 0.6244811007122267, "return_to_base": 0.006269261914810704}}} |
{"battery_percent": 64.3, "distance_to_base": 4.25, "distance_to_target": 12.32, "heading_to_target_deg": -99.92, "nearest_obstacle": {"clearance_m": 3.2, "radius_m": 0.86}, "nearest_teammate": {"battery_percent": 67.8, "distance_m": 2.82, "radio_link_degraded": true}, "position": [2.22, 3.63], "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": 0.03143893894870989, "hold_position": 0.23230408358287316, "move_to_target": 0.6987175157328862, "request_swarm_help": 0.02252698412796844, "return_to_base": 0.015012477607562387}}} |
{"battery_percent": 76.5, "distance_to_base": 3.4, "distance_to_target": 6.1, "heading_to_target_deg": -110.66, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.91}, "nearest_teammate": {"battery_percent": 91.7, "distance_m": 4.31, "radio_link_degraded": false}, "position": [1.36, -3.12], "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": 0.662108302942089, "hold_position": 0.2884075950369593, "move_to_target": 0.04132716804631087, "request_swarm_help": 0.0052823693634652304, "return_to_base": 0.002874564611175677}}} |
{"battery_percent": 23.6, "distance_to_base": 4.28, "distance_to_target": 11.7, "heading_to_target_deg": 141.68, "nearest_obstacle": {"clearance_m": 3.88, "radius_m": 0.88}, "nearest_teammate": {"battery_percent": 41.1, "distance_m": 1.74, "radio_link_degraded": false}, "position": [1.27, -4.08], "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": 0.00884767186212399, "hold_position": 0.06537594373416436, "move_to_target": 0.12687907023667505, "request_swarm_help": 0.7905712424603021, "return_to_base": 0.008326071706734325}}} |
{"battery_percent": 38.9, "distance_to_base": 12.95, "distance_to_target": 14.67, "heading_to_target_deg": 63.21, "nearest_obstacle": {"clearance_m": 8.57, "radius_m": 0.56}, "nearest_teammate": {"battery_percent": 60.3, "distance_m": 3.92, "radio_link_degraded": false}, "position": [-8.88, -9.42], "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": 0.03649091750107122, "hold_position": 0.26963343651686544, "move_to_target": 0.6410949526501571, "request_swarm_help": 0.02614688494108258, "return_to_base": 0.026633808390823684}}} |
{"battery_percent": 57.3, "distance_to_base": 7.01, "distance_to_target": 0.86, "heading_to_target_deg": -13.1, "nearest_obstacle": {"clearance_m": 9.64, "radius_m": 0.83}, "nearest_teammate": {"battery_percent": 67.7, "distance_m": 0.68, "radio_link_degraded": false}, "position": [6.46, 2.72], "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": 0.44842881281443975, "hold_position": 0.0349258899494349, "move_to_target": 0.044727385120233366, "request_swarm_help": 0.4693778004945627, "return_to_base": 0.0025401116213294972}}} |
{"battery_percent": 6.9, "distance_to_base": 2.63, "distance_to_target": 10.56, "heading_to_target_deg": 50.22, "nearest_obstacle": {"clearance_m": 1.68, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 47.6, "distance_m": 4.26, "radio_link_degraded": false}, "position": [2.23, 1.39], "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": 0.0021832993159591786, "hold_position": 0.06120142745744316, "move_to_target": 0.01525768498275683, "request_swarm_help": 0.0015644023202390882, "return_to_base": 0.9197931859236018}}} |
{"battery_percent": 5.1, "distance_to_base": 7.4, "distance_to_target": 3.81, "heading_to_target_deg": 26.91, "nearest_obstacle": {"clearance_m": 1.08, "radius_m": 0.69}, "nearest_teammate": {"battery_percent": 2.6, "distance_m": 3.11, "radio_link_degraded": false}, "position": [0.83, 4.21], "radio_link_degraded": fals... | {"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": 0.06424066283296649, "hold_position": 0.014516502127670403, "move_to_target": 0.0022125173592030304, "request_swarm_help": 0.298207630768299, "return_to_base": 0.620822686911861}}} |
{"battery_percent": 4.6, "distance_to_base": 1.77, "distance_to_target": 13.93, "heading_to_target_deg": -16.69, "nearest_obstacle": {"clearance_m": 1.44, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 28.5, "distance_m": 8.12, "radio_link_degraded": false}, "position": [-9.39, -5.31], "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": 0.0020148447660175554, "hold_position": 0.05647937270170338, "move_to_target": 0.006097851741515279, "request_swarm_help": 0.0014436993607972993, "return_to_base": 0.9339642314299667}}} |
{"battery_percent": 12.2, "distance_to_base": 2.71, "distance_to_target": 5.51, "heading_to_target_deg": -51.96, "nearest_obstacle": {"clearance_m": 1.03, "radius_m": 0.81}, "nearest_teammate": {"battery_percent": 81.8, "distance_m": 2.33, "radio_link_degraded": false}, "position": [2.6, 0.75], "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": 0.31565255232625256, "hold_position": 0.026037681414747105, "move_to_target": 0.005519236646360443, "request_swarm_help": 0.29679364292152216, "return_to_base": 0.3559968866911178}}} |
{"battery_percent": 42.9, "distance_to_base": 3.48, "distance_to_target": 4.0, "heading_to_target_deg": 139.63, "nearest_obstacle": {"clearance_m": 2.31, "radius_m": 0.95}, "nearest_teammate": {"battery_percent": 48.5, "distance_m": 3.94, "radio_link_degraded": false}, "position": [-1.43, 3.17], "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": 0.016426233911446916, "hold_position": 0.12137436386583832, "move_to_target": 0.8392180428382703, "request_swarm_help": 0.011769910912360687, "return_to_base": 0.011211448472083788}}} |
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