Modelling and Simulation of Distributed UAV Swarm Cooperative Planning and Perception

Table 2

Mean and standard deviation of RMSE at the end of simulation and mutual information during the simulation from 100 simulation runs.

Scenario	Mean and standard deviation of RMSE at the end of simulation and mutual information during the simulation
	RMSE mean (m)	RMSE Stdev	Mutual information mean (nat)	Mutual information Stdev
	11.871	0.3922	2.322	0.4538
	11.200	0.3948	2.893	0.4209
	10.360	0.3454	3.348	0.4702
	8.505	0.3512	3.746	0.4317