ResearchBenchmarksRobot Group-Following on Scenario 1Robot Group-Following on Scenario 1Follow100Success Rate (SR)MPPI9597.5100102.5Jul 1, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Rate (CR)Mean Cumulative Deviation (CD)MPPI2026.0710000.75ESFM2026.0710000.81PP2026.0710001.34Proposed2026.0710001.1