Multi-robot formation control on 2D cluttered simulation (4 followers)
78.8Safety RateFORMULA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| FORMULAFollowers=42026.04 | 78.8 | 0.715 | 0.463 | |
| CLF+CBF-QPFollowers=42026.04 | 63.7 | 0.823 | 0.429 | |
| MPC-CBFFollowers=42026.04 | 45.6 | 1.045 | 0.353 | |
| APFFollowers=42026.04 | 22 | 0.925 | 0.078 |