Multi-robot formation control on 2D cluttered simulation 2 followers
86.3Safety RateFORMULA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| FORMULAFollowers=22026.04 | 86.3 | 0.705 | 0.49 | |
| MPC-CBFFollowers=22026.04 | 75.5 | 1.129 | 0.417 | |
| CLF+CBF-QPFollowers=22026.04 | 71.7 | 0.787 | 0.409 | |
| APFFollowers=22026.04 | 29.7 | 1.09 | 0.059 |