state stringlengths 409 422 | questions stringclasses 1
value | gold stringlengths 229 240 |
|---|---|---|
{"battery_percent": 56.9, "distance_to_base": 10.73, "distance_to_target": 8.01, "heading_to_target_deg": 28.99, "nearest_obstacle": {"clearance_m": 1.72, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 75.5, "distance_m": 4.51, "radio_link_degraded": false}, "position": [-3.41, -5.42], "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": 0.03291156844397851, "hold_position": 0.24318542553635294, "move_to_target": 0.6825420315006171, "request_swarm_help": 0.023582169270202888, "return_to_base": 0.017778805248848575}}} |
{"battery_percent": 72.6, "distance_to_base": 8.77, "distance_to_target": 11.71, "heading_to_target_deg": 148.29, "nearest_obstacle": {"clearance_m": 2.49, "radius_m": 0.46}, "nearest_teammate": {"battery_percent": 70.2, "distance_m": 1.88, "radio_link_degraded": false}, "position": [0.31, -4.94], "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": 0.03015984527015531, "hold_position": 0.22285278863624575, "move_to_target": 0.7128255657873722, "request_swarm_help": 0.021610473458127083, "return_to_base": 0.012551326848099635}}} |
{"battery_percent": 75.2, "distance_to_base": 3.88, "distance_to_target": 10.04, "heading_to_target_deg": 82.1, "nearest_obstacle": {"clearance_m": 0.66, "radius_m": 1.17}, "nearest_teammate": {"battery_percent": 85.8, "distance_m": 7.46, "radio_link_degraded": false}, "position": [-0.17, -3.87], "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": 0.6913725952654332, "hold_position": 0.28390333081108865, "move_to_target": 0.016633393404382142, "request_swarm_help": 0.005199870886444739, "return_to_base": 0.002890809632651337}}} |
{"battery_percent": 12.6, "distance_to_base": 18.58, "distance_to_target": 6.29, "heading_to_target_deg": -90.19, "nearest_obstacle": {"clearance_m": 0.98, "radius_m": 0.8}, "nearest_teammate": {"battery_percent": 92.3, "distance_m": 2.99, "radio_link_degraded": false}, "position": [-5.05, 3.23], "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": 0.42438713028582215, "hold_position": 0.034702096731989596, "move_to_target": 0.0068088408504250655, "request_swarm_help": 0.37036220534900094, "return_to_base": 0.1637397267827623}}} |
{"battery_percent": 16.1, "distance_to_base": 5.76, "distance_to_target": 6.37, "heading_to_target_deg": 58.71, "nearest_obstacle": {"clearance_m": 2.33, "radius_m": 0.76}, "nearest_teammate": {"battery_percent": 73.5, "distance_m": 6.37, "radio_link_degraded": false}, "position": [1.75, -5.49], "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": 0.010774847942803993, "hold_position": 0.07961595590682626, "move_to_target": 0.06945279598921389, "request_swarm_help": 0.007720515917690645, "return_to_base": 0.8324358842434654}}} |
{"battery_percent": 59.0, "distance_to_base": 10.74, "distance_to_target": 4.78, "heading_to_target_deg": 105.1, "nearest_obstacle": {"clearance_m": 1.91, "radius_m": 0.57}, "nearest_teammate": {"battery_percent": 35.5, "distance_m": 3.86, "radio_link_degraded": false}, "position": [3.25, -1.29], "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": 0.009104543272244508, "hold_position": 0.06727398099375631, "move_to_target": 0.2609604739237542, "request_swarm_help": 0.6579119324121128, "return_to_base": 0.004749069398132155}}} |
{"battery_percent": 48.2, "distance_to_base": 5.91, "distance_to_target": 9.69, "heading_to_target_deg": 23.54, "nearest_obstacle": {"clearance_m": 1.22, "radius_m": 0.83}, "nearest_teammate": {"battery_percent": 8.7, "distance_m": 5.93, "radio_link_degraded": true}, "position": [-1.72, -0.31], "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": 0.02587112791077583, "hold_position": 0.1911632154753331, "move_to_target": 0.7482573328307741, "request_swarm_help": 0.01853747318793034, "return_to_base": 0.016170850595186564}}} |
{"battery_percent": 19.8, "distance_to_base": 5.13, "distance_to_target": 12.06, "heading_to_target_deg": -54.61, "nearest_obstacle": {"clearance_m": 2.39, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 89.2, "distance_m": 4.2, "radio_link_degraded": false}, "position": [1.6, 4.88], "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": 0.011287644378351572, "hold_position": 0.08340503753641894, "move_to_target": 0.04115708013617603, "request_swarm_help": 0.00808795061971112, "return_to_base": 0.8560622873293423}}} |
{"battery_percent": 53.2, "distance_to_base": 5.78, "distance_to_target": 3.06, "heading_to_target_deg": 135.88, "nearest_obstacle": {"clearance_m": 1.64, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 9.3, "distance_m": 2.15, "radio_link_degraded": false}, "position": [-0.59, -0.03], "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": 0.0077684291075174996, "hold_position": 0.05740135847601254, "move_to_target": 0.2643044557521347, "request_swarm_help": 0.6660604252100613, "return_to_base": 0.004465331454274122}}} |
{"battery_percent": 93.1, "distance_to_base": 9.4, "distance_to_target": 9.98, "heading_to_target_deg": 3.64, "nearest_obstacle": {"clearance_m": 5.01, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 84.5, "distance_m": 3.79, "radio_link_degraded": false}, "position": [-9.07, 5.21], "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": 0.010151215867346621, "hold_position": 0.07500790351617911, "move_to_target": 0.17295631043295898, "request_swarm_help": 0.7388849515375783, "return_to_base": 0.002999618645936918}}} |
{"battery_percent": 31.1, "distance_to_base": 9.64, "distance_to_target": 5.78, "heading_to_target_deg": -147.15, "nearest_obstacle": {"clearance_m": 0.64, "radius_m": 0.56}, "nearest_teammate": {"battery_percent": 98.6, "distance_m": 13.12, "radio_link_degraded": false}, "position": [-4.58, 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": 0.6728886503124126, "hold_position": 0.2754820515755938, "move_to_target": 0.04073140430619668, "request_swarm_help": 0.005045629776986222, "return_to_base": 0.005852264028810586}}} |
{"battery_percent": 30.5, "distance_to_base": 12.06, "distance_to_target": 23.4, "heading_to_target_deg": -48.7, "nearest_obstacle": {"clearance_m": 1.9, "radius_m": 0.76}, "nearest_teammate": {"battery_percent": 58.4, "distance_m": 12.98, "radio_link_degraded": true}, "position": [-7.64, 9.34], "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": 0.06946088202457901, "hold_position": 0.5132503539608179, "move_to_target": 0.3092487718692205, "request_swarm_help": 0.04977089683068295, "return_to_base": 0.05826909531469969}}} |
{"battery_percent": 74.4, "distance_to_base": 11.17, "distance_to_target": 19.59, "heading_to_target_deg": 125.73, "nearest_obstacle": {"clearance_m": 3.95, "radius_m": 1.04}, "nearest_teammate": {"battery_percent": 45.8, "distance_m": 13.41, "radio_link_degraded": false}, "position": [8.95, -6.68], "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": 0.06241113083011035, "hold_position": 0.46115934690138566, "move_to_target": 0.4065023681315556, "request_swarm_help": 0.04471952936809118, "return_to_base": 0.025207624768857222}}} |
{"battery_percent": 2.7, "distance_to_base": 1.66, "distance_to_target": 14.7, "heading_to_target_deg": 48.04, "nearest_obstacle": {"clearance_m": 1.51, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 2.1, "distance_m": 1.91, "radio_link_degraded": false}, "position": [-0.84, -1.43], "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": 0.0017218348181033153, "hold_position": 0.012722734064057451, "move_to_target": 0.004823529534381903, "request_swarm_help": 0.1512830398240774, "return_to_base": 0.82944886175938}}} |
{"battery_percent": 0.0, "distance_to_base": 2.68, "distance_to_target": 0.84, "heading_to_target_deg": 47.41, "nearest_obstacle": {"clearance_m": 0.89, "radius_m": 0.91}, "nearest_teammate": {"battery_percent": 52.1, "distance_m": 2.04, "radio_link_degraded": false}, "position": [-3.36, 1.48], "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": 0.04942307200762125, "hold_position": 0.010827483941702765, "move_to_target": 0.002221810117240595, "request_swarm_help": 0.2475195010473253, "return_to_base": 0.6900081328861101}}} |
{"battery_percent": 12.0, "distance_to_base": 7.72, "distance_to_target": 1.26, "heading_to_target_deg": -146.87, "nearest_obstacle": {"clearance_m": 2.6, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 72.5, "distance_m": 5.24, "radio_link_degraded": false}, "position": [7.86, 6.31], "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": 0.01005598943906669, "hold_position": 0.07430427009551793, "move_to_target": 0.1780758972799759, "request_swarm_help": 0.007205431291890641, "return_to_base": 0.7303584118935488}}} |
{"battery_percent": 69.3, "distance_to_base": 8.11, "distance_to_target": 7.22, "heading_to_target_deg": -60.89, "nearest_obstacle": {"clearance_m": 2.18, "radius_m": 0.69}, "nearest_teammate": {"battery_percent": 87.0, "distance_m": 4.02, "radio_link_degraded": false}, "position": [-4.49, 6.76], "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": 0.021469563941963418, "hold_position": 0.15863981238674632, "move_to_target": 0.7950658580941631, "request_swarm_help": 0.015383614788782814, "return_to_base": 0.009441150788344259}}} |
{"battery_percent": 0.2, "distance_to_base": 3.8, "distance_to_target": 9.96, "heading_to_target_deg": -19.54, "nearest_obstacle": {"clearance_m": 4.9, "radius_m": 1.15}, "nearest_teammate": {"battery_percent": 60.2, "distance_m": 2.63, "radio_link_degraded": false}, "position": [0.51, -3.76], "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": 0.0018849556922986396, "hold_position": 0.01392804335439331, "move_to_target": 0.008480794506147301, "request_swarm_help": 0.15404046684136596, "return_to_base": 0.8216657396057948}}} |
{"battery_percent": 91.2, "distance_to_base": 13.42, "distance_to_target": 2.52, "heading_to_target_deg": -98.11, "nearest_obstacle": {"clearance_m": 0.94, "radius_m": 0.84}, "nearest_teammate": {"battery_percent": 94.5, "distance_m": 5.0, "radio_link_degraded": false}, "position": [4.81, -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": 0.6538624983906528, "hold_position": 0.28119170953090716, "move_to_target": 0.05760164570299245, "request_swarm_help": 0.005150205810273929, "return_to_base": 0.0021939405651737434}}} |
{"battery_percent": 54.0, "distance_to_base": 15.49, "distance_to_target": 5.74, "heading_to_target_deg": -124.68, "nearest_obstacle": {"clearance_m": 0.93, "radius_m": 0.75}, "nearest_teammate": {"battery_percent": 30.0, "distance_m": 5.58, "radio_link_degraded": false}, "position": [8.82, 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": 0.6747882638498609, "hold_position": 0.28963293036851445, "move_to_target": 0.026071598415338355, "request_swarm_help": 0.005304812162915602, "return_to_base": 0.004202395203370637}}} |
{"battery_percent": 86.0, "distance_to_base": 8.29, "distance_to_target": 0.98, "heading_to_target_deg": -116.84, "nearest_obstacle": {"clearance_m": 5.55, "radius_m": 0.45}, "nearest_teammate": {"battery_percent": 19.8, "distance_m": 3.43, "radio_link_degraded": false}, "position": [8.01, 2.12], "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": 0.007931082214079434, "hold_position": 0.058603211405064054, "move_to_target": 0.3323804612319403, "request_swarm_help": 0.598443145756833, "return_to_base": 0.002642099392083101}}} |
{"battery_percent": 33.2, "distance_to_base": 13.63, "distance_to_target": 3.11, "heading_to_target_deg": 56.89, "nearest_obstacle": {"clearance_m": 1.47, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 27.1, "distance_m": 2.36, "radio_link_degraded": false}, "position": [-3.44, 1.63], "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": 0.0152119719746054, "hold_position": 0.1124021142957201, "move_to_target": 0.8492680928129513, "request_swarm_help": 0.010899854215375754, "return_to_base": 0.012217966701347376}}} |
{"battery_percent": 69.8, "distance_to_base": 8.93, "distance_to_target": 17.82, "heading_to_target_deg": -134.56, "nearest_obstacle": {"clearance_m": 0.97, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 8.7, "radio_link_degraded": true}, "position": [3.33, 8.29], "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": 0.6829795361981976, "hold_position": 0.295223182916031, "move_to_target": 0.013099995558372338, "request_swarm_help": 0.005407201209872744, "return_to_base": 0.003290084117526416}}} |
{"battery_percent": 35.6, "distance_to_base": 13.5, "distance_to_target": 2.52, "heading_to_target_deg": 125.48, "nearest_obstacle": {"clearance_m": 3.21, "radius_m": 1.05}, "nearest_teammate": {"battery_percent": 53.3, "distance_m": 2.16, "radio_link_degraded": false}, "position": [-3.61, -5.11], "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": 0.007647576163157416, "hold_position": 0.05650836929041494, "move_to_target": 0.27478200702955713, "request_swarm_help": 0.6551661942226392, "return_to_base": 0.005895853294231227}}} |
{"battery_percent": 37.9, "distance_to_base": 9.86, "distance_to_target": 5.85, "heading_to_target_deg": -33.04, "nearest_obstacle": {"clearance_m": 1.2, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 30.8, "distance_m": 4.72, "radio_link_degraded": false}, "position": [0.4, 9.85], "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": 0.6640731862320469, "hold_position": 0.2982357911520131, "move_to_target": 0.026572780424116663, "request_swarm_help": 0.0054623790544362175, "return_to_base": 0.00565586313738717}}} |
{"battery_percent": 88.4, "distance_to_base": 2.16, "distance_to_target": 4.98, "heading_to_target_deg": -174.47, "nearest_obstacle": {"clearance_m": 6.63, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 62.0, "distance_m": 4.97, "radio_link_degraded": false}, "position": [2.16, -0.11], "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": 0.017935553193624387, "hold_position": 0.13252680871304537, "move_to_target": 0.8309511800935302, "request_swarm_help": 0.0128513854356936, "return_to_base": 0.00573507256410638}}} |
{"battery_percent": 7.7, "distance_to_base": 0.57, "distance_to_target": 8.65, "heading_to_target_deg": -177.42, "nearest_obstacle": {"clearance_m": 5.63, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 86.5, "distance_m": 3.99, "radio_link_degraded": true}, "position": [0.26, 0.51], "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": 0.001954654543943657, "hold_position": 0.05479214297420963, "move_to_target": 0.010026392268555912, "request_swarm_help": 0.0014005711820909614, "return_to_base": 0.9318262390311997}}} |
{"battery_percent": 43.0, "distance_to_base": 3.82, "distance_to_target": 13.24, "heading_to_target_deg": -81.86, "nearest_obstacle": {"clearance_m": 0.93, "radius_m": 0.71}, "nearest_teammate": {"battery_percent": 70.7, "distance_m": 1.5, "radio_link_degraded": false}, "position": [-0.31, 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": 0.6780951117223483, "hold_position": 0.29107917929606064, "move_to_target": 0.020423904499365143, "request_swarm_help": 0.005331301136015758, "return_to_base": 0.005070503346210242}}} |
{"battery_percent": 57.8, "distance_to_base": 11.58, "distance_to_target": 2.76, "heading_to_target_deg": 163.33, "nearest_obstacle": {"clearance_m": 0.99, "radius_m": 1.06}, "nearest_teammate": {"battery_percent": 2.5, "distance_m": 2.94, "radio_link_degraded": false}, "position": [-5.87, 0.17], "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": 0.4870296149591527, "hold_position": 0.03988641226649064, "move_to_target": 0.042237262340438335, "request_swarm_help": 0.4279734926699474, "return_to_base": 0.0028732177639710366}}} |
{"battery_percent": 82.3, "distance_to_base": 15.21, "distance_to_target": 4.55, "heading_to_target_deg": 88.76, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 18.3, "distance_m": 3.71, "radio_link_degraded": true}, "position": [6.28, -6.73], "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": 0.6705957501776304, "hold_position": 0.2918220991524039, "move_to_target": 0.02959530810848991, "request_swarm_help": 0.00534490818782781, "return_to_base": 0.0026419343736480655}}} |
{"battery_percent": 61.9, "distance_to_base": 2.82, "distance_to_target": 10.72, "heading_to_target_deg": -99.92, "nearest_obstacle": {"clearance_m": 4.04, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 65.4, "distance_m": 2.09, "radio_link_degraded": true}, "position": [1.94, 2.05], "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": 0.028024247312287903, "hold_position": 0.20707273552080177, "move_to_target": 0.7308947193564816, "request_swarm_help": 0.02008025065451764, "return_to_base": 0.013928047155911111}}} |
{"battery_percent": 0.0, "distance_to_base": 5.61, "distance_to_target": 3.84, "heading_to_target_deg": 158.95, "nearest_obstacle": {"clearance_m": 1.7, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 48.3, "distance_m": 2.83, "radio_link_degraded": false}, "position": [-0.73, 0.37], "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": 0.002065365883611494, "hold_position": 0.015261104378822799, "move_to_target": 0.017133792603113096, "request_swarm_help": 0.16542009248637443, "return_to_base": 0.8001196446480782}}} |
{"battery_percent": 27.8, "distance_to_base": 8.63, "distance_to_target": 7.66, "heading_to_target_deg": 44.34, "nearest_obstacle": {"clearance_m": 3.35, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 81.6, "distance_m": 3.32, "radio_link_degraded": false}, "position": [-3.47, -2.03], "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": 0.009340369640871506, "hold_position": 0.06901651526114828, "move_to_target": 0.20069023925255544, "request_swarm_help": 0.712752738750322, "return_to_base": 0.008200137095102776}}} |
{"battery_percent": 0.0, "distance_to_base": 6.29, "distance_to_target": 13.28, "heading_to_target_deg": -94.43, "nearest_obstacle": {"clearance_m": 4.66, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 74.7, "distance_m": 8.43, "radio_link_degraded": false}, "position": [-4.13, 4.74], "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": 0.002467137085466882, "hold_position": 0.0691578613431821, "move_to_target": 0.013127092351494212, "request_swarm_help": 0.0017677809692147844, "return_to_base": 0.9134801282506421}}} |
{"battery_percent": 28.4, "distance_to_base": 5.27, "distance_to_target": 0.53, "heading_to_target_deg": 84.89, "nearest_obstacle": {"clearance_m": 1.67, "radius_m": 0.92}, "nearest_teammate": {"battery_percent": 47.2, "distance_m": 7.7, "radio_link_degraded": false}, "position": [4.64, -2.49], "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": 0.01857804373299939, "hold_position": 0.1372742073515194, "move_to_target": 0.8146869291788027, "request_swarm_help": 0.013311750023903213, "return_to_base": 0.016149069712775542}}} |
{"battery_percent": 17.5, "distance_to_base": 2.0, "distance_to_target": 6.17, "heading_to_target_deg": 135.65, "nearest_obstacle": {"clearance_m": 3.69, "radius_m": 0.77}, "nearest_teammate": {"battery_percent": 82.6, "distance_m": 6.46, "radio_link_degraded": false}, "position": [-2.92, -0.27], "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": 0.008549021891879519, "hold_position": 0.06316920235008401, "move_to_target": 0.09269458209609556, "request_swarm_help": 0.006125641860312448, "return_to_base": 0.8294615518016285}}} |
{"battery_percent": 63.8, "distance_to_base": 10.42, "distance_to_target": 0.5, "heading_to_target_deg": 30.54, "nearest_obstacle": {"clearance_m": 1.71, "radius_m": 0.65}, "nearest_teammate": {"battery_percent": 59.3, "distance_m": 3.1, "radio_link_degraded": true}, "position": [9.46, 4.37], "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": 0.018667129095349216, "hold_position": 0.1379324640915159, "move_to_target": 0.8210230250071306, "request_swarm_help": 0.013375582475340689, "return_to_base": 0.009001799330663675}}} |
{"battery_percent": 49.4, "distance_to_base": 8.19, "distance_to_target": 9.36, "heading_to_target_deg": -120.01, "nearest_obstacle": {"clearance_m": 1.49, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 9.8, "distance_m": 3.94, "radio_link_degraded": false}, "position": [-2.35, 3.23], "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": 0.010120173037375174, "hold_position": 0.07477852630405056, "move_to_target": 0.1834982148008804, "request_swarm_help": 0.7254031106828198, "return_to_base": 0.006199975174874047}}} |
{"battery_percent": 57.4, "distance_to_base": 11.05, "distance_to_target": 4.09, "heading_to_target_deg": 16.75, "nearest_obstacle": {"clearance_m": 1.16, "radius_m": 0.57}, "nearest_teammate": {"battery_percent": 55.7, "distance_m": 2.46, "radio_link_degraded": false}, "position": [-4.71, -10.0], "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": 0.47230407280079345, "hold_position": 0.03980848736001932, "move_to_target": 0.03689421696652594, "request_swarm_help": 0.4481048260671518, "return_to_base": 0.0028883968055094414}}} |
{"battery_percent": 17.9, "distance_to_base": 6.46, "distance_to_target": 7.01, "heading_to_target_deg": -146.96, "nearest_obstacle": {"clearance_m": 1.56, "radius_m": 1.1}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 1.46, "radio_link_degraded": false}, "position": [-3.35, 5.53], "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": 0.011034195207774237, "hold_position": 0.08153228739679558, "move_to_target": 0.1098939374029479, "request_swarm_help": 0.0079063463533535, "return_to_base": 0.7896332336391289}}} |
{"battery_percent": 50.1, "distance_to_base": 13.62, "distance_to_target": 0.57, "heading_to_target_deg": -47.31, "nearest_obstacle": {"clearance_m": 2.22, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 28.6, "distance_m": 0.79, "radio_link_degraded": false}, "position": [3.6, 2.73], "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": 0.4456175126917864, "hold_position": 0.03530632853130982, "move_to_target": 0.04653993943628421, "request_swarm_help": 0.4696408016687247, "return_to_base": 0.0028954176718947824}}} |
{"battery_percent": 62.0, "distance_to_base": 11.67, "distance_to_target": 1.81, "heading_to_target_deg": 40.59, "nearest_obstacle": {"clearance_m": 8.87, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 46.0, "distance_m": 2.03, "radio_link_degraded": false}, "position": [-6.53, -9.68], "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": 0.007448432115274375, "hold_position": 0.055036882748839014, "move_to_target": 0.28725898361326, "request_swarm_help": 0.6465548226064467, "return_to_base": 0.0037008789161799417}}} |
{"battery_percent": 8.0, "distance_to_base": 0.32, "distance_to_target": 6.61, "heading_to_target_deg": -143.42, "nearest_obstacle": {"clearance_m": 4.22, "radius_m": 0.6}, "nearest_teammate": {"battery_percent": 11.2, "distance_m": 0.77, "radio_link_degraded": false}, "position": [1.0, 5.69], "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": 0.055119968736965945, "hold_position": 0.011838196367828959, "move_to_target": 0.0022484236051568264, "request_swarm_help": 0.15773342364616041, "return_to_base": 0.7730599876438878}}} |
{"battery_percent": 94.3, "distance_to_base": 8.48, "distance_to_target": 9.21, "heading_to_target_deg": 6.79, "nearest_obstacle": {"clearance_m": 4.42, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 85.7, "distance_m": 3.26, "radio_link_degraded": false}, "position": [-8.25, 4.76], "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": 0.009628679787686117, "hold_position": 0.0711468551098524, "move_to_target": 0.17716057999839302, "request_swarm_help": 0.7392750114751594, "return_to_base": 0.002788873628908927}}} |
{"battery_percent": 43.3, "distance_to_base": 2.78, "distance_to_target": 6.56, "heading_to_target_deg": 153.39, "nearest_obstacle": {"clearance_m": 7.66, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 31.2, "distance_m": 6.25, "radio_link_degraded": true}, "position": [5.96, 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": 0.02027681855954332, "hold_position": 0.14982654984430377, "move_to_target": 0.8016196102326862, "request_swarm_help": 0.014528975376736511, "return_to_base": 0.013748045986730026}}} |
{"battery_percent": 9.0, "distance_to_base": 1.19, "distance_to_target": 9.35, "heading_to_target_deg": 70.64, "nearest_obstacle": {"clearance_m": 2.61, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 66.1, "distance_m": 9.8, "radio_link_degraded": false}, "position": [-4.97, -0.92], "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": 0.007585143995345493, "hold_position": 0.056047054500074835, "move_to_target": 0.0362810986697999, "request_swarm_help": 0.005434993167875816, "return_to_base": 0.8946517096669042}}} |
{"battery_percent": 10.5, "distance_to_base": 5.44, "distance_to_target": 10.58, "heading_to_target_deg": 26.81, "nearest_obstacle": {"clearance_m": 4.92, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 17.9, "distance_m": 5.72, "radio_link_degraded": false}, "position": [-2.91, 4.4], "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": 0.00972796816793763, "hold_position": 0.07188050252150273, "move_to_target": 0.06782816927021226, "request_swarm_help": 0.006970393780592448, "return_to_base": 0.8435929662597549}}} |
{"battery_percent": 85.2, "distance_to_base": 13.58, "distance_to_target": 3.25, "heading_to_target_deg": -95.98, "nearest_obstacle": {"clearance_m": 1.27, "radius_m": 0.84}, "nearest_teammate": {"battery_percent": 88.5, "distance_m": 5.29, "radio_link_degraded": false}, "position": [4.79, -2.38], "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": 0.015509157039973622, "hold_position": 0.11459803141549027, "move_to_target": 0.8535481913788228, "request_swarm_help": 0.011112796619747003, "return_to_base": 0.005231823545966304}}} |
{"battery_percent": 34.3, "distance_to_base": 8.18, "distance_to_target": 7.81, "heading_to_target_deg": 119.41, "nearest_obstacle": {"clearance_m": 1.66, "radius_m": 1.08}, "nearest_teammate": {"battery_percent": 25.6, "distance_m": 0.75, "radio_link_degraded": true}, "position": [-0.44, 2.83], "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": 0.683247404973208, "hold_position": 0.2849257844452795, "move_to_target": 0.020864786015107956, "request_swarm_help": 0.005218597777989054, "return_to_base": 0.005743426788415442}}} |
{"battery_percent": 18.4, "distance_to_base": 8.01, "distance_to_target": 8.45, "heading_to_target_deg": -53.92, "nearest_obstacle": {"clearance_m": 1.95, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 30.8, "distance_m": 1.33, "radio_link_degraded": false}, "position": [1.85, 3.31], "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": 0.012223460863312684, "hold_position": 0.09031983804210064, "move_to_target": 0.10547652064048195, "request_swarm_help": 0.008758492432136854, "return_to_base": 0.783221688021968}}} |
{"battery_percent": 10.5, "distance_to_base": 9.32, "distance_to_target": 1.62, "heading_to_target_deg": -66.57, "nearest_obstacle": {"clearance_m": 1.42, "radius_m": 0.43}, "nearest_teammate": {"battery_percent": 63.1, "distance_m": 0.84, "radio_link_degraded": false}, "position": [8.15, -4.51], "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": 0.346408269106261, "hold_position": 0.027699765352823046, "move_to_target": 0.008667494801224793, "request_swarm_help": 0.36642984064682743, "return_to_base": 0.2507946300928638}}} |
{"battery_percent": 88.4, "distance_to_base": 0.81, "distance_to_target": 7.63, "heading_to_target_deg": -26.97, "nearest_obstacle": {"clearance_m": 1.67, "radius_m": 0.81}, "nearest_teammate": {"battery_percent": 33.7, "distance_m": 1.54, "radio_link_degraded": false}, "position": [-0.79, -0.13], "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": 0.008235366415670853, "hold_position": 0.06085158444064139, "move_to_target": 0.17754110999763897, "request_swarm_help": 0.750738371516241, "return_to_base": 0.0026335676298079474}}} |
{"battery_percent": 82.3, "distance_to_base": 6.05, "distance_to_target": 7.77, "heading_to_target_deg": 17.16, "nearest_obstacle": {"clearance_m": 1.07, "radius_m": 0.66}, "nearest_teammate": {"battery_percent": 72.1, "distance_m": 2.43, "radio_link_degraded": true}, "position": [-1.42, -5.89], "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": 0.6645061902809861, "hold_position": 0.2920934298943631, "move_to_target": 0.0354086973465631, "request_swarm_help": 0.005349877783716949, "return_to_base": 0.0026418046943706497}}} |
{"battery_percent": 0.0, "distance_to_base": 2.08, "distance_to_target": 10.28, "heading_to_target_deg": -100.27, "nearest_obstacle": {"clearance_m": 5.64, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 78.0, "distance_m": 4.95, "radio_link_degraded": false}, "position": [1.91, 6.03], "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": 0.0018975990404084208, "hold_position": 0.05319278450094156, "move_to_target": 0.013629699383467468, "request_swarm_help": 0.0013596891273674099, "return_to_base": 0.929920227947815}}} |
{"battery_percent": 24.4, "distance_to_base": 7.51, "distance_to_target": 6.67, "heading_to_target_deg": 69.59, "nearest_obstacle": {"clearance_m": 4.25, "radius_m": 1.02}, "nearest_teammate": {"battery_percent": 79.6, "distance_m": 4.07, "radio_link_degraded": false}, "position": [-6.61, -3.55], "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": 0.029628948730665614, "hold_position": 0.21892996432322828, "move_to_target": 0.7026617067658467, "request_swarm_help": 0.021230069464907436, "return_to_base": 0.02754931071535204}}} |
{"battery_percent": 74.9, "distance_to_base": 9.85, "distance_to_target": 5.63, "heading_to_target_deg": -5.04, "nearest_obstacle": {"clearance_m": 1.23, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 48.1, "distance_m": 1.37, "radio_link_degraded": false}, "position": [-2.01, -1.04], "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": 0.01890822701123277, "hold_position": 0.13971395011731477, "move_to_target": 0.8202574274827107, "request_swarm_help": 0.013548336680985342, "return_to_base": 0.007572058707756677}}} |
{"battery_percent": 76.6, "distance_to_base": 11.83, "distance_to_target": 22.62, "heading_to_target_deg": 146.43, "nearest_obstacle": {"clearance_m": 1.33, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 75.2, "distance_m": 9.27, "radio_link_degraded": false}, "position": [9.41, -7.17], "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": 0.06989210829243452, "hold_position": 0.5164367090453348, "move_to_target": 0.33636380814301425, "request_swarm_help": 0.0500798839535433, "return_to_base": 0.02722749056567317}}} |
{"battery_percent": 80.5, "distance_to_base": 6.55, "distance_to_target": 7.91, "heading_to_target_deg": 20.83, "nearest_obstacle": {"clearance_m": 1.07, "radius_m": 0.66}, "nearest_teammate": {"battery_percent": 70.3, "distance_m": 3.65, "radio_link_degraded": true}, "position": [-1.39, -6.4], "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": 0.66485816639529, "hold_position": 0.29213856779030795, "move_to_target": 0.0349298809988616, "request_swarm_help": 0.00535070451311927, "return_to_base": 0.0027226803024211106}}} |
{"battery_percent": 54.2, "distance_to_base": 4.94, "distance_to_target": 19.02, "heading_to_target_deg": -44.05, "nearest_obstacle": {"clearance_m": 7.84, "radius_m": 0.9}, "nearest_teammate": {"battery_percent": 92.1, "distance_m": 8.22, "radio_link_degraded": false}, "position": [-9.02, 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": 0.06035662491183901, "hold_position": 0.44597848741569374, "move_to_target": 0.4162920954330551, "request_swarm_help": 0.04324741154989062, "return_to_base": 0.0341253806895216}}} |
{"battery_percent": 68.7, "distance_to_base": 7.18, "distance_to_target": 4.61, "heading_to_target_deg": -162.76, "nearest_obstacle": {"clearance_m": 8.4, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 75.8, "distance_m": 3.65, "radio_link_degraded": false}, "position": [-4.59, 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": 0.01735954028852886, "hold_position": 0.1282706170435865, "move_to_target": 0.8342235796260989, "request_swarm_help": 0.012438654153898084, "return_to_base": 0.007707608887887696}}} |
{"battery_percent": 74.7, "distance_to_base": 0.39, "distance_to_target": 5.48, "heading_to_target_deg": -108.04, "nearest_obstacle": {"clearance_m": 1.57, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 6.5, "distance_m": 3.44, "radio_link_degraded": true}, "position": [-0.13, 0.37], "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": 0.018667113030071982, "hold_position": 0.13793234538428117, "move_to_target": 0.8225289012452967, "request_swarm_help": 0.013375570964066538, "return_to_base": 0.007496069376283567}}} |
{"battery_percent": 36.4, "distance_to_base": 17.87, "distance_to_target": 19.64, "heading_to_target_deg": -50.87, "nearest_obstacle": {"clearance_m": 3.87, "radius_m": 1.18}, "nearest_teammate": {"battery_percent": 80.9, "distance_m": 22.2, "radio_link_degraded": false}, "position": [-9.79, 9.13], "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": 0.061154292265682496, "hold_position": 0.4518724962415288, "move_to_target": 0.39661423364421533, "request_swarm_help": 0.043818965184342015, "return_to_base": 0.046540012664231446}}} |
{"battery_percent": 15.6, "distance_to_base": 0.24, "distance_to_target": 11.69, "heading_to_target_deg": 49.79, "nearest_obstacle": {"clearance_m": 4.24, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 52.0, "distance_m": 4.22, "radio_link_degraded": false}, "position": [0.24, 0.0], "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": 0.007811430871971004, "hold_position": 0.05771910092591251, "move_to_target": 0.04874166865456665, "request_swarm_help": 0.005597134800149943, "return_to_base": 0.8801306647474}}} |
{"battery_percent": 7.7, "distance_to_base": 7.9, "distance_to_target": 11.87, "heading_to_target_deg": -22.02, "nearest_obstacle": {"clearance_m": 4.01, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 82.1, "distance_m": 3.48, "radio_link_degraded": true}, "position": [-3.7, 6.97], "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": 0.003068701749949954, "hold_position": 0.08602069636777299, "move_to_target": 0.0114087653315371, "request_swarm_help": 0.0021988208866517197, "return_to_base": 0.8973030156640882}}} |
{"battery_percent": 13.1, "distance_to_base": 9.42, "distance_to_target": 4.76, "heading_to_target_deg": 98.71, "nearest_obstacle": {"clearance_m": 7.11, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 63.7, "distance_m": 4.01, "radio_link_degraded": true}, "position": [-3.38, 1.2], "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": 0.012453012754900123, "hold_position": 0.0920160098466559, "move_to_target": 0.09426783278957936, "request_swarm_help": 0.008922973549860694, "return_to_base": 0.792340171059004}}} |
{"battery_percent": 68.7, "distance_to_base": 16.91, "distance_to_target": 2.74, "heading_to_target_deg": -1.55, "nearest_obstacle": {"clearance_m": 1.72, "radius_m": 0.78}, "nearest_teammate": {"battery_percent": 7.6, "distance_m": 3.08, "radio_link_degraded": false}, "position": [-0.11, 8.53], "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": 0.008188191569579353, "hold_position": 0.06050300685641285, "move_to_target": 0.287869079167565, "request_swarm_help": 0.6398039722445095, "return_to_base": 0.003635750161933306}}} |
{"battery_percent": 51.9, "distance_to_base": 2.24, "distance_to_target": 9.21, "heading_to_target_deg": -103.14, "nearest_obstacle": {"clearance_m": 2.85, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 67.8, "distance_m": 0.99, "radio_link_degraded": true}, "position": [2.19, 0.46], "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": 0.669562576770295, "hold_position": 0.2903014156159765, "move_to_target": 0.030459137093004407, "request_swarm_help": 0.005317055897310563, "return_to_base": 0.004359814623413715}}} |
{"battery_percent": 51.5, "distance_to_base": 7.75, "distance_to_target": 5.83, "heading_to_target_deg": 31.94, "nearest_obstacle": {"clearance_m": 1.25, "radius_m": 0.55}, "nearest_teammate": {"battery_percent": 46.5, "distance_m": 0.59, "radio_link_degraded": false}, "position": [4.46, 6.34], "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": 0.4580936001388095, "hold_position": 0.035136807349096764, "move_to_target": 0.027387165702128104, "request_swarm_help": 0.47656802578489676, "return_to_base": 0.002814401025068848}}} |
{"battery_percent": 39.1, "distance_to_base": 16.18, "distance_to_target": 1.51, "heading_to_target_deg": -29.93, "nearest_obstacle": {"clearance_m": 4.47, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 92.0, "distance_m": 2.5, "radio_link_degraded": false}, "position": [-3.04, 4.99], "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": 0.013265517449525666, "hold_position": 0.09801965261588853, "move_to_target": 0.8695638307125321, "request_swarm_help": 0.00950515860354809, "return_to_base": 0.009645840618505657}}} |
{"battery_percent": 46.5, "distance_to_base": 8.17, "distance_to_target": 3.26, "heading_to_target_deg": 35.97, "nearest_obstacle": {"clearance_m": 3.91, "radius_m": 0.62}, "nearest_teammate": {"battery_percent": 7.1, "distance_m": 2.04, "radio_link_degraded": false}, "position": [-2.19, -7.55], "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": 0.007746555687276112, "hold_position": 0.05723973454677343, "move_to_target": 0.2584673176389129, "request_swarm_help": 0.6715695658899239, "return_to_base": 0.004976826237113626}}} |
{"battery_percent": 27.6, "distance_to_base": 7.2, "distance_to_target": 15.41, "heading_to_target_deg": -97.7, "nearest_obstacle": {"clearance_m": 3.51, "radius_m": 1.12}, "nearest_teammate": {"battery_percent": 47.4, "distance_m": 3.39, "radio_link_degraded": false}, "position": [-1.3, 7.08], "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": 0.01053201654539072, "hold_position": 0.0778216610887578, "move_to_target": 0.1042180222302296, "request_swarm_help": 0.7981492636792549, "return_to_base": 0.009279036456367065}}} |
{"battery_percent": 8.9, "distance_to_base": 0.17, "distance_to_target": 8.58, "heading_to_target_deg": -114.73, "nearest_obstacle": {"clearance_m": 5.61, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 28.1, "distance_m": 2.7, "radio_link_degraded": false}, "position": [-0.09, 0.15], "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": 0.006937384768050587, "hold_position": 0.05126072523099279, "move_to_target": 0.05909924349480924, "request_swarm_help": 0.004970853399805932, "return_to_base": 0.8777317931063412}}} |
{"battery_percent": 56.8, "distance_to_base": 3.63, "distance_to_target": 8.67, "heading_to_target_deg": -4.08, "nearest_obstacle": {"clearance_m": 3.71, "radius_m": 0.71}, "nearest_teammate": {"battery_percent": 7.1, "distance_m": 3.31, "radio_link_degraded": false}, "position": [-3.59, 0.57], "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": 0.009550921148835174, "hold_position": 0.07057229216520625, "move_to_target": 0.18554097750334808, "request_swarm_help": 0.7291599029377328, "return_to_base": 0.00517590624487787}}} |
{"battery_percent": 21.4, "distance_to_base": 9.74, "distance_to_target": 16.75, "heading_to_target_deg": 160.83, "nearest_obstacle": {"clearance_m": 4.63, "radius_m": 1.0}, "nearest_teammate": {"battery_percent": 83.3, "distance_m": 1.78, "radio_link_degraded": true}, "position": [8.93, 3.88], "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": 0.053372586324915455, "hold_position": 0.39437303449981914, "move_to_target": 0.4618756451187827, "request_swarm_help": 0.03824312922810437, "return_to_base": 0.05213560482837813}}} |
{"battery_percent": 28.5, "distance_to_base": 9.48, "distance_to_target": 11.99, "heading_to_target_deg": -61.28, "nearest_obstacle": {"clearance_m": 2.32, "radius_m": 0.76}, "nearest_teammate": {"battery_percent": 24.5, "distance_m": 7.04, "radio_link_degraded": false}, "position": [-7.59, 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": 0.04183037997285901, "hold_position": 0.30908702425904033, "move_to_target": 0.5827821217725536, "request_swarm_help": 0.02997277698375225, "return_to_base": 0.036327697011794655}}} |
{"battery_percent": 49.9, "distance_to_base": 10.2, "distance_to_target": 5.83, "heading_to_target_deg": -12.2, "nearest_obstacle": {"clearance_m": 1.97, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 76.7, "distance_m": 1.09, "radio_link_degraded": false}, "position": [-2.1, -0.3], "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": 0.007681723903375731, "hold_position": 0.05676068885853978, "move_to_target": 0.1980976529760635, "request_swarm_help": 0.7327950128517133, "return_to_base": 0.004664921410307658}}} |
{"battery_percent": 73.5, "distance_to_base": 14.56, "distance_to_target": 14.04, "heading_to_target_deg": 148.54, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 67.3, "distance_m": 7.55, "radio_link_degraded": false}, "position": [7.37, -4.01], "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": 0.6773565736061974, "hold_position": 0.29504148923576723, "move_to_target": 0.019105951154532015, "request_swarm_help": 0.0054038733740366645, "return_to_base": 0.003092112629466786}}} |
{"battery_percent": 66.0, "distance_to_base": 7.88, "distance_to_target": 15.22, "heading_to_target_deg": 34.82, "nearest_obstacle": {"clearance_m": 4.74, "radius_m": 1.09}, "nearest_teammate": {"battery_percent": 65.2, "distance_m": 3.79, "radio_link_degraded": false}, "position": [-9.87, -0.24], "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": 0.010897825613151673, "hold_position": 0.08052464481194102, "move_to_target": 0.10988608688397049, "request_swarm_help": 0.7936246360665912, "return_to_base": 0.005066806624345641}}} |
{"battery_percent": 97.9, "distance_to_base": 8.79, "distance_to_target": 17.79, "heading_to_target_deg": 14.42, "nearest_obstacle": {"clearance_m": 1.45, "radius_m": 1.11}, "nearest_teammate": {"battery_percent": 20.8, "distance_m": 2.0, "radio_link_degraded": false}, "position": [-7.56, -4.47], "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": 0.009661162012914965, "hold_position": 0.07138686809428643, "move_to_target": 0.07536003313534202, "request_swarm_help": 0.8409535053511107, "return_to_base": 0.002638431406346046}}} |
{"battery_percent": 0.0, "distance_to_base": 0.8, "distance_to_target": 0.61, "heading_to_target_deg": -130.49, "nearest_obstacle": {"clearance_m": 2.25, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 15.9, "distance_m": 0.59, "radio_link_degraded": true}, "position": [0.66, 0.45], "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": 0.05217264734195168, "hold_position": 0.010875881718654355, "move_to_target": 0.0037632202202369913, "request_swarm_help": 0.14752840644965967, "return_to_base": 0.7856598442694974}}} |
{"battery_percent": 63.2, "distance_to_base": 11.22, "distance_to_target": 11.48, "heading_to_target_deg": 81.24, "nearest_obstacle": {"clearance_m": 1.56, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 24.9, "distance_m": 5.47, "radio_link_degraded": true}, "position": [6.7, -2.41], "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": 0.0296104816210434, "hold_position": 0.2187935098142446, "move_to_target": 0.7159681103381534, "request_swarm_help": 0.02121683720264732, "return_to_base": 0.014411061023911048}}} |
{"battery_percent": 54.2, "distance_to_base": 4.92, "distance_to_target": 19.02, "heading_to_target_deg": -44.19, "nearest_obstacle": {"clearance_m": 7.82, "radius_m": 0.9}, "nearest_teammate": {"battery_percent": 87.3, "distance_m": 6.98, "radio_link_degraded": false}, "position": [-8.98, 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": 0.06035858261235976, "hold_position": 0.44599295297466646, "move_to_target": 0.41627316254423957, "request_swarm_help": 0.04324881430361046, "return_to_base": 0.03412648756512381}}} |
{"battery_percent": 1.2, "distance_to_base": 0.43, "distance_to_target": 9.16, "heading_to_target_deg": 49.88, "nearest_obstacle": {"clearance_m": 5.03, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 0.3, "distance_m": 0.65, "radio_link_degraded": false}, "position": [-2.13, 1.67], "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": 0.05166098946028885, "hold_position": 0.010872306530147495, "move_to_target": 0.0015996968894362185, "request_swarm_help": 0.1466393219351219, "return_to_base": 0.7892276851850054}}} |
{"battery_percent": 83.6, "distance_to_base": 7.98, "distance_to_target": 0.3, "heading_to_target_deg": -12.54, "nearest_obstacle": {"clearance_m": 6.69, "radius_m": 1.17}, "nearest_teammate": {"battery_percent": 57.0, "distance_m": 0.58, "radio_link_degraded": false}, "position": [-0.86, 7.93], "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": 0.44973741429914027, "hold_position": 0.034439421333707664, "move_to_target": 0.04663932452993835, "request_swarm_help": 0.4675684479656579, "return_to_base": 0.0016153918715560982}}} |
{"battery_percent": 61.7, "distance_to_base": 15.13, "distance_to_target": 19.2, "heading_to_target_deg": 40.07, "nearest_obstacle": {"clearance_m": 1.87, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 48.2, "distance_m": 10.36, "radio_link_degraded": false}, "position": [-7.53, -8.8], "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": 0.06105315864610498, "hold_position": 0.4511252142529826, "move_to_target": 0.4136192200203532, "request_swarm_help": 0.04374649977936307, "return_to_base": 0.030455907301196395}}} |
{"battery_percent": 33.2, "distance_to_base": 1.18, "distance_to_target": 6.82, "heading_to_target_deg": -84.85, "nearest_obstacle": {"clearance_m": 3.08, "radius_m": 0.41}, "nearest_teammate": {"battery_percent": 79.8, "distance_m": 4.98, "radio_link_degraded": false}, "position": [1.05, 0.54], "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": 0.03006160483823447, "hold_position": 0.2221268845735996, "move_to_target": 0.7021577423032461, "request_swarm_help": 0.02154008111269151, "return_to_base": 0.02411368717222836}}} |
{"battery_percent": 34.5, "distance_to_base": 5.62, "distance_to_target": 11.28, "heading_to_target_deg": 154.9, "nearest_obstacle": {"clearance_m": 6.73, "radius_m": 0.59}, "nearest_teammate": {"battery_percent": 0.7, "distance_m": 4.1, "radio_link_degraded": false}, "position": [1.42, -5.44], "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": 0.04024021115710875, "hold_position": 0.2973371776726916, "move_to_target": 0.6019699587867489, "request_swarm_help": 0.028833371238169148, "return_to_base": 0.03161928114528157}}} |
{"battery_percent": 4.9, "distance_to_base": 12.3, "distance_to_target": 4.2, "heading_to_target_deg": 124.25, "nearest_obstacle": {"clearance_m": 1.83, "radius_m": 1.05}, "nearest_teammate": {"battery_percent": 61.7, "distance_m": 1.61, "radio_link_degraded": true}, "position": [-0.72, -6.22], "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": 0.0036854198954816594, "hold_position": 0.10330830808896557, "move_to_target": 0.04864020577831614, "request_swarm_help": 0.002640718747724192, "return_to_base": 0.8417253474895127}}} |
{"battery_percent": 75.0, "distance_to_base": 8.95, "distance_to_target": 14.86, "heading_to_target_deg": 65.57, "nearest_obstacle": {"clearance_m": 3.17, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 1.7, "distance_m": 3.8, "radio_link_degraded": false}, "position": [-4.94, -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": 0.010874614880144429, "hold_position": 0.08035313940365316, "move_to_target": 0.11372578173181379, "request_swarm_help": 0.7907003702193076, "return_to_base": 0.004346093765080899}}} |
{"battery_percent": 6.6, "distance_to_base": 0.3, "distance_to_target": 7.15, "heading_to_target_deg": -27.31, "nearest_obstacle": {"clearance_m": 2.74, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 46.5, "distance_m": 6.2, "radio_link_degraded": true}, "position": [-4.35, 6.6], "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": 0.001963535987764504, "hold_position": 0.014508677565861128, "move_to_target": 0.011700445817247994, "request_swarm_help": 0.0014069350146717005, "return_to_base": 0.9704204056144548}}} |
{"battery_percent": 34.1, "distance_to_base": 6.01, "distance_to_target": 10.95, "heading_to_target_deg": -6.84, "nearest_obstacle": {"clearance_m": 4.72, "radius_m": 0.85}, "nearest_teammate": {"battery_percent": 17.1, "distance_m": 3.02, "radio_link_degraded": false}, "position": [-3.31, 5.01], "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": 0.028254620140916887, "hold_position": 0.20877497327521066, "move_to_target": 0.7203832574610152, "request_swarm_help": 0.020245319999335758, "return_to_base": 0.022341829123521458}}} |
{"battery_percent": 73.5, "distance_to_base": 18.72, "distance_to_target": 9.63, "heading_to_target_deg": 65.79, "nearest_obstacle": {"clearance_m": 1.1, "radius_m": 0.95}, "nearest_teammate": {"battery_percent": 48.8, "distance_m": 2.01, "radio_link_degraded": false}, "position": [-4.01, -6.48], "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": 0.4729733974040631, "hold_position": 0.039454679225994355, "move_to_target": 0.02102049986874014, "request_swarm_help": 0.4643616294358872, "return_to_base": 0.002189794065315157}}} |
{"battery_percent": 24.4, "distance_to_base": 9.72, "distance_to_target": 0.17, "heading_to_target_deg": -54.46, "nearest_obstacle": {"clearance_m": 1.0, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 15.6, "distance_m": 10.65, "radio_link_degraded": true}, "position": [8.49, 4.74], "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": 0.6385849317604245, "hold_position": 0.27773974507762605, "move_to_target": 0.07199019916465432, "request_swarm_help": 0.005086980875890886, "return_to_base": 0.006598143121404174}}} |
{"battery_percent": 30.8, "distance_to_base": 9.15, "distance_to_target": 4.73, "heading_to_target_deg": -121.03, "nearest_obstacle": {"clearance_m": 0.32, "radius_m": 0.58}, "nearest_teammate": {"battery_percent": 91.2, "distance_m": 5.4, "radio_link_degraded": false}, "position": [0.42, 9.14], "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": 0.6934382191847387, "hold_position": 0.26907710267737767, "move_to_target": 0.02681509299316277, "request_swarm_help": 0.004928319045865701, "return_to_base": 0.005741266098855217}}} |
{"battery_percent": 30.1, "distance_to_base": 6.65, "distance_to_target": 1.64, "heading_to_target_deg": 130.68, "nearest_obstacle": {"clearance_m": 2.69, "radius_m": 0.88}, "nearest_teammate": {"battery_percent": 24.6, "distance_m": 3.83, "radio_link_degraded": false}, "position": [6.64, -0.43], "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": 0.013401348976869839, "hold_position": 0.09902331939143807, "move_to_target": 0.8666516481475425, "request_swarm_help": 0.00960248614585325, "return_to_base": 0.011321197338296353}}} |
{"battery_percent": 38.0, "distance_to_base": 14.5, "distance_to_target": 1.11, "heading_to_target_deg": 134.18, "nearest_obstacle": {"clearance_m": 1.82, "radius_m": 1.05}, "nearest_teammate": {"battery_percent": 55.7, "distance_m": 1.64, "radio_link_degraded": false}, "position": [-4.3, -3.85], "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": 0.007105367102039049, "hold_position": 0.05250195612046283, "move_to_target": 0.293980115415297, "request_swarm_help": 0.6411495101104547, "return_to_base": 0.005263051251746412}}} |
{"battery_percent": 91.5, "distance_to_base": 10.35, "distance_to_target": 16.31, "heading_to_target_deg": -69.71, "nearest_obstacle": {"clearance_m": 8.51, "radius_m": 0.51}, "nearest_teammate": {"battery_percent": 39.5, "distance_m": 4.99, "radio_link_degraded": true}, "position": [-1.02, 8.81], "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": 0.041118056616876834, "hold_position": 0.3038236270211096, "move_to_target": 0.6131131592901853, "request_swarm_help": 0.029462374995938026, "return_to_base": 0.012482782075890203}}} |
{"battery_percent": 3.7, "distance_to_base": 9.23, "distance_to_target": 8.43, "heading_to_target_deg": 107.69, "nearest_obstacle": {"clearance_m": 4.86, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 16.5, "distance_m": 11.98, "radio_link_degraded": false}, "position": [7.07, -5.94], "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": 0.0030817928926975048, "hold_position": 0.08638766237071305, "move_to_target": 0.02663331186317988, "request_swarm_help": 0.0022082011003215327, "return_to_base": 0.881689031773088}}} |
{"battery_percent": 0.0, "distance_to_base": 1.79, "distance_to_target": 8.21, "heading_to_target_deg": -71.83, "nearest_obstacle": {"clearance_m": 1.12, "radius_m": 0.47}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 2.5, "radio_link_degraded": false}, "position": [-0.99, -1.49], "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": 0.052028392705428625, "hold_position": 0.011849682318469267, "move_to_target": 0.0019176348698847798, "request_swarm_help": 0.13286469769090808, "return_to_base": 0.8013395924153092}}} |
{"battery_percent": 50.2, "distance_to_base": 3.22, "distance_to_target": 11.34, "heading_to_target_deg": 33.14, "nearest_obstacle": {"clearance_m": 1.16, "radius_m": 0.93}, "nearest_teammate": {"battery_percent": 13.8, "distance_m": 3.18, "radio_link_degraded": false}, "position": [-1.72, 2.73], "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": 0.4968182219457281, "hold_position": 0.04190753944857807, "move_to_target": 0.01880903497227552, "request_swarm_help": 0.4390356520691451, "return_to_base": 0.0034295515642732964}}} |
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