Table 4.

MBCAP-i vs. MBCAP-e: Collision avoidance performance (mean value by experiment).

	MBCAP-i				MBCAP-e
Number of UAVs	25	50	75	100	25	50	75	100
Collisions expected	6.5	16.5	45.5	84.25	6.5	16.5	45.5	84.25
Risks detected	28.17	132.92	338.75	659.42	23.08	105.08	249.08	438
Soft collisions ($d<5$ m)	0.58	1.83	3.42	10.08	0.08	0.08	0.58	1.5
Hard collisions ($d<4$ m)	0.58	1.67	2.58	8.42	0.08	0.08	0.58	1.08
Deadlocks avoided	0.08	1.67	4.33	10.83	0	0.33	0.25	0.58
Deadlock failures	0.33	3.42	8.75	21.42	0	0	0	0