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Abstract The data throughput of massive spectroscopic surveys in the course of each observation is directly coordinated with the number of optical fibers which reach their target. In this paper, we evaluate the safety and the performance of the astrobots coordination in SDSS-V by conducting various experimental and simulated tests. We illustrate that our strategy provides a complete coordination condition which depends on the operational characteristics of astrobots, their configurations, and their targets. Namely, a coordination method based on the notion of cooperative artificial potential fields is used to generate safe and complete trajectories for astrobots. Optimal target assignment further improves the performance of the used algorithm in terms of faster convergences and less oscillatory movements. Both random targets and galaxy catalog targets are employed to observe the coordination success of the algorithm in various target distributions. The proposed method is capable of handling all potential collisions in the course of coordination. Once the completeness condition is fulfilled according to initial configuration of astrobots and their targets, the algorithm reaches full convergence of astrobots. Should one assign targets to astrobots using efficient strategies, convergence time as well as the number of oscillations decrease in the course of coordination. Rare incomplete scenarios are simply resolved by trivial modifications of astrobots swarms’ parameters. 

ABSTRACT We present the joint analysis of Neutral Hydrogen (H i) Intensity Mapping observations with three galaxy samples: the Luminous Red Galaxy (LRG) and Emission Line Galaxy (ELG) samples from the eBOSS survey, and the WiggleZ Dark Energy Survey sample. The H i intensity maps are Green Bank Telescope observations of the redshifted $$21\rm cm$$ emission on $$100 \, {\rm deg}^2$$ covering the redshift range 0.6 < z < 1.0. We process the data by separating and removing the foregrounds present in the radio frequencies with FastI ICA. We verify the quality of the foreground separation with mock realizations, and construct a transfer function to correct for the effects of foreground removal on the H i signal. We cross-correlate the cleaned H i data with the galaxy samples and study the overall amplitude as well as the scale dependence of the power spectrum. We also qualitatively compare our findings with the predictions by a semianalytical galaxy evolution simulation. The cross-correlations constrain the quantity $$\Omega _{\rm {H\,\small {I}}} b_{\rm {H\,\small {I}}} r_{\rm {H\,\small {I}},{\rm opt}}$$ at an effective scale keff, where $$\Omega _\rm {H\,\small {I}}$$ is the H  i density fraction, $$b_\rm {H\,\small {I}}$$ is the H i bias, and $$r_{\rm {H\,\small {I}},{\rm opt}}$$ the galaxy–hydrogen correlation coefficient, which is dependent on the H  i content of the optical galaxy sample. At $$k_{\rm eff}=0.31 \, h\,{\rm Mpc^{-1}}$$ we find $$\Omega _{\rm {H\,\small {I}}} b_{\rm {H\,\small {I}}} r_{\rm {H\,\small {I}},{\rm Wig}} = [0.58 \pm 0.09 \, {\rm (stat) \pm 0.05 \, {\rm (sys)}}] \times 10^{-3}$$ for GBT-WiggleZ, $$\Omega _{\rm {H\,\small {I}}} b_{\rm {H\,\small {I}}} r_{\rm {H\,\small {I}},{\rm ELG}} = [0.40 \pm 0.09 \, {\rm (stat) \pm 0.04 \, {\rm (sys)}}] \times 10^{-3}$$ for GBT-ELG, and $$\Omega _{\rm {H\,\small {I}}} b_{\rm {H\,\small {I}}} r_{\rm {H\,\small {I}},{\rm LRG}} = [0.35 \pm 0.08 \, {\rm (stat) \pm 0.03 \, {\rm (sys)}}] \times 10^{-3}$$ for GBT-LRG, at z ≃ 0.8. We also report results at $$k_{\rm eff}=0.24$$ and $$k_{\rm eff}=0.48 \, h\,{\rm Mpc^{-1}}$$. With little information on H i parameters beyond our local Universe, these are amongst the most precise constraints on neutral hydrogen density fluctuations in an underexplored redshift range.