ResearchBenchmarksRobot Group-Following on Scenario 5Robot Group-Following on Scenario 5Follow95Success Rate (SR)Proposed-3.821.8547.573.15Jul 1, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Rate (CR)Cumulative Deviation (CD)Proposed2026.079550.87PP2026.0765301.34MPPI2026.0730700.41ESFM2026.070850.45