Multi-robot formation control on 2D cluttered simulation 8 followers
71.6Safety RateFORMULA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| FORMULAFollowers=82026.04 | 71.6 | 0.844 | 0.389 | |
| CLF+CBF-QPFollowers=82026.04 | 47.9 | 0.911 | 0.402 | |
| MPC-CBFFollowers=82026.04 | 36.1 | 1.041 | 0.334 | |
| APFFollowers=82026.04 | 16.9 | 0.896 | 0.071 |