Reference-Coupled Heterogeneous Multi-Agent Coordination with Real-Time Adaptive Perimeter Field Navigation. - Darshankumar Prajapati; Pushkar Kumar; Surya Prakash S. K; Ankit Mehra; Ashish Rana; Jaganath Prasad Sahoo; Thugu Jaswanth Reddy; Amit Shukla 002 (ICARA, 2026)