Hierarchical formation navigation framework for multi-vehicle systems with safety-critical obstacle avoidance in cluttered environments
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Published online on July 09, 2026
Abstract
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Ahead of Print.
Formation navigation in cluttered environments presents significant challenges due to the need to simultaneously maintain formation structure and ensure safe obstacle avoidance. This work proposes a hierarchical formation navigation framework for multi-...
Formation navigation in cluttered environments presents significant challenges due to the need to simultaneously maintain formation structure and ensure safe obstacle avoidance. This work proposes a hierarchical formation navigation framework for multi-...