Fig. 6: Collective evacuation experiments.
From: Perception of motion salience shapes the emergence of collective motions
The snapshots of collective evacuation experiments for the swarm consisted of 50 robots using average interaction (a), ATHD (b) and AMS with 100% MS (c). The exit width is 600 mm. The colored areas highlight the spatial distributions of the swarm. The spending time of all the swarm evacuating the narrow exit as a function of different exit widths from experiments (d) and simulations (e). The spending time as a function of different percent of the swarm successfully passing the gate from experiments (f) and simulations (g). In (d–g), the error bar represents the standard deviation (SD) calculated from 10 independent experiments and 50 independent simulations. The statistics of historical trajectories of all 50 robots in 10 independent experiments (h) and 50 independent simulations (i). The color scales in (h), and (i) correspond to the probability density estimate of historical trajectories. The black line indicates the wall. The swarm size is 50 in the experiments and simulations.
