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Watching L₁
0
≥4
Watching L₂
0
≥4
In transit (outside)
0
≤3
SAFE
h = 0.00
t
0.0 s
CBF active
0
min sep
–
violations
0
peak |u|
0.00
bound
1.00 m/s
❚❚ Pause
↺ Reset
⚄ New patrol plan
CBF filter: ON
Required in L₁ r₁
4
Required in L₂ r₂
4
Drones N
(restarts)
11
Input bound
1.00 m/s
CBF gain α
2.0
Relaxation ρ
2.0 paper
Sim speed
2×
nominal command
trails
patrol lanes
auto-rotate
Coverage over the last 50 s
L1
L2
outside