ResearchBenchmarksRobot Group-Following on Scenario 4Robot Group-Following on Scenario 4Follow85Success Rate (SR)Proposed3346.56073.5Jul 1, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Rate (CR)Group Deviation (CD)Proposed2026.078501.03PP2026.0760351.03MPPI2026.0750400.59ESFM2026.0735600.52