REACT: Environment-Adaptive Architecture for Continuous Formation Navigation of Wheeled Mobile Robots

Researchers introduced REACT, a hierarchical navigation framework for wheeled mobile robots that adapts formations to changing environments.

REACT combines centralized formation generation with distributed formation maintenance to keep teams coordinated while moving.

It uses TCF-R2T for conflict-free robot-to-target assignment and JSTP for coordinated spatio-temporal trajectory planning.

The system was validated in simulation and real-world tests, showing continuous navigation with fewer trajectory conflicts and safer formation changes.