Role-Adaptive Collaborative Formation Planning for Team of Quadruped Robots in Cluttered Environments

Description

This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles, the proposed approach integrates dynamic role assignment and partial goal planning, enabling flexible, collision-free navigation in complex scenarios. Formation stability and inter-robot safety are ensured through a virtual spring-damper system coupled with a n

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