The Defense Advanced Research Projects Agency (DARPA) OFFensive Swarm-Enabled Tactics program's goal of launching 250 unmanned aerial and ground vehicles from a limited sized launch zone was a daunting challenge. The swarm's aerial vehicles were primarily multirotor platforms, which can efficiently be launched en masse. Each field exercise expected the deployment of an even larger swarm. While the launch zone's spatial area increased with each field exercise, the relative space for each vehicle was not necessarily increased, considering the increasing size of the swarm and the vehicles' associated GPS error; however, safe mission deployment and execution were expected. At the same time, achieving the mission goals required maximizing efficiency of the swarm's performance by reducing congestion that blocked vehicles from completing tactic assignments. Congestion analysis conducted before the final field exercise focused on adjusting various constraints to optimize the swarm's deployment without reducing safety. During the field exercise, data was collected that permitted analyzing the number and durations of individual vehicle blockages' impact on the resulting congestion. After the field exercise, additional analyses used the mission plan to validate the use of simulation for analyzing congestion.

翻译：美国国防高级研究计划局（DARPA）的进攻性蜂群使能战术项目旨在从有限规模的发射区内发射250架无人飞行器和地面车辆，这是一项艰巨的挑战。该蜂群的飞行器主要为多旋翼平台，能够有效实现大规模发射。每次实地演习都计划部署规模更大的蜂群。尽管每次实地演习中发射区的空间面积有所增加，但考虑到蜂群规模的扩大以及车辆相关的GPS误差，每辆车的相对空间并未必然增加；然而，安全的任务部署与执行仍被预期实现。同时，实现任务目标需要通过减少阻碍车辆完成战术任务的拥塞，来最大化蜂群性能效率。在最后一次实地演习前进行的拥塞分析，重点在于调整各种约束条件以优化蜂群部署，同时不降低安全性。在实地演习期间，收集的数据允许分析单个车辆阻塞次数和持续时间对最终拥塞的影响。演习结束后，还利用任务计划进行了额外分析，以验证使用仿真进行拥塞分析的有效性。