ResearchBenchmarksRobot Group-Following on Scenario 2Robot Group-Following on Scenario 2Follow80Success Rate (SR)Proposed17.633.85066.2Jul 1, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Rate (CR)Cohesion Metric (CD)Proposed2026.0780101.05PP2026.0775101.71ESFM2026.0730600.62MPPI2026.0720800.51