FIGURE 5.

Figure showing the minimum of the pair-wise distances between the robots averaged across different benchmarks, some of which are shown in Figure 2. The pair-wise distance is always greater than the lower bound shown in blue. Similarly, we also show the average minimum distance between the robots’ and obstacles’ centers. The corresponding lower bound is shown in yellow which is always respected by the computed trajectories. (A) denotes the pairwise-distance plot for the scenario in Figures 2A–C, (B) for Figures 2D–F and (C) for Figures 2G–I.