Science Robotics

The PDF file includes:

• Text S1. Real-world test environment
• Text S2. RSSI measurements
• Text S3. From odometry to trajectory
• Text S4. Analysis and statistics
• Text S5. SGBA implementation details simulation versus real world
• Text S6. SGBA submodule analysis
• Fig. S1. Overview of the real-world environment.
• Fig. S2. RSSI measurements.
• Fig. S3. Odometry versus trajectory.
• Fig. S4. Transcripts hallway video.
• Fig. S5. Odometry correction.
• Fig. S6. Coverage calculation simulation.
• Fig. S7. SGBA simulation versus real world.
• Fig. S8. Simulated collisions SGBA.
• Fig. S9. Loop detection check.
• Table S1. Statistics of the simulation tests.
• Table S2. End status of the real-world tests with two drones.
• Table S3. End status of the real-world tests with four drones.
• Table S4. End status of the real-world tests with six drones.
• Table S5. Coverage of the real-world tests with two drones.
• Table S6. Coverage of the real-world tests with four drones.
• Table S7. Coverage of the real-world tests with six drones.
• Table S8. Statistics of the real-world tests.
• Table S9. Real-world collisions.
• Legends for movies S1 and S2

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Video six-drone test configuration.
• Movie S2 (.mp4 format). Video four-drone victim search.