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rUv
8d64434d21
Stage-1 kinematic evaluator per ADR-149 (peer-reviewed). Pure Rust, no new deps. evals/: - gdop.rs: 2D Geometric Dilution of Precision ((HᵀH)⁻¹ trace-sqrt); None for <2 observers or collinear/singular geometry - stats.rs: IQM (Agarwal 2021) + 95% stratified-bootstrap CI (deterministic LCG) + probability_of_improvement - metrics.rs: EpisodeMetrics + AggregateMetrics::from_strata (IQM±CI, seed-stratified) - runner.rs: seeded kinematic rollout (FlightPattern-driven), seed×episode matrix, 3σ×3κ default noise sweep (Gaussian amplitude × von Mises phase) - report.rs + eval_swarm bin: generates evals/RESULTS.md leaderboard RESULTS.md surfaces the real coverage-vs-localization-precision trade-off via GDOP: partitioned wins coverage (100%) but single-drone sightings (GDOP 0 → 7.0m); pheromone gets multistatic fusion (GDOP 1.6 → 4.1m). Wi2SAR 5m paper-baseline row included. Stage-2 (Gazebo/PX4 SITL false-alarm + collision on median seeds) is documented follow-on. Tests: 116 default / 133 full+train (+13 eval tests), 0 failed. Clippy clean (-D warnings).
1.7 KiB
1.7 KiB
ruview-swarm Evaluation Results (ADR-149 Stage 1, kinematic)
Statistically-rigorous evaluation harness: seeded multi-run rollouts with IQM + 95% stratified-bootstrap confidence intervals (Agarwal et al., NeurIPS 2021).
Run configuration
- Stage: 1 (kinematic, self-contained, deterministic per seed)
- Episodes per pattern: 100 (seed × episode matrix)
- CI method: 95% stratified bootstrap of the IQM, stratified by seed
- GDOP: 2-D geometric dilution of precision at first detection
Stage 2 pending: high-fidelity Gazebo/PX4 SITL evaluation (false-alarm rate, real collision rate on the median seeds) is a follow-on — see ADR-149 §6.1. The collision figures below are a kinematic min-separation proxy, not SITL physics.
Flight-pattern leaderboard
| Flight pattern | Coverage IQM [95% CI] | Localization (m) IQM [95% CI] | Detection rate | Mean GDOP |
|---|---|---|---|---|
| partitioned_lawnmower | 1.000 [1.000, 1.000] | 7.022 [5.669, 8.379] | 100.0% | 0.000 |
| pheromone | 0.662 [0.652, 0.671] | 4.110 [3.346, 5.141] | 95.0% | 1.598 |
| levy_flight | 0.490 [0.489, 0.491] | 3.523 [2.897, 4.160] | 100.0% | 0.000 |
| boustrophedon | 0.370 [0.370, 0.370] | 2.740 [2.357, 3.207] | 100.0% | 0.000 |
| spiral | 0.336 [0.336, 0.336] | 3.082 [2.678, 3.568] | 100.0% | 0.000 |
| potential_field | 0.254 [0.252, 0.256] | 4.343 [3.489, 5.265] | 100.0% | 0.000 |
| Wi2SAR (paper baseline) | n/a | 5.0 (paper) | n/a | n/a |
Wi2SAR row is the published single-drone localization figure (arxiv 2604.09115), shown paper-to-paper for reference only — it was not re-run through this kinematic harness.