Online Path Generation and Navigation for Swarms of UAVs

Table 3

Experiment design.

Experiment	1	2	3	4
Experiment type	Small	Large	Cluttered flying zone	High risk of UAV collisions
Flying zone	10 × 10 × 10	20 × 20 × 20	10 × 10 × 10	20 × 20 × 20
Number of UAVs	20	50	20	100
Static obstacles	20	50	40	50
Moving obstacles	20	50	40	50