ResearchBenchmarksLeader-follower Formation Control on Multi-agent Navigation (100 Episodes)Leader-follower Formation Control on Multi-agent Navigation (100 Episodes)Follow1Success RatePAC0.60480.70740.810.9126Dec 24, 2025Evaluation resultsMethodMethodLinksSuccess RatePath Length (m)Path OptimalityTracking Deviation (m)Min Clearance (m)Mean Clearance (m)Mean Control MagnitudeControl SmoothnessEnergy UsageTime (s)Mean Velocity (m/s)Mean CurvaturePeak CurvatureMotion JerkOrientation StabilityPAC2025.1219.380.781.1390.4881.0780.4521.1646.9527.810.340.7335.510.5760.225MPPI2025.120.659.350.7751.0670.440.9740.6024.53810.225.980.3928.296,76723.10.202Diffusion2025.120.629.120.7911.0640.3050.8950.370.3365.3131.050.2970.7875.280.3590.188