Decentralized Discrete-Time Formation Control for Multirobot Systems

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="746713.fig.002a" src="https://static.hindawi.com/articles/ddns/volume-2013/746713/figures/746713.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>  Formation Graph</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="746713.fig.002b" src="https://static.hindawi.com/articles/ddns/volume-2013/746713/figures/746713.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Trajectories of the robots</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="746713.fig.002c" src="https://static.hindawi.com/articles/ddns/volume-2013/746713/figures/746713.fig.002c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Error coordinates</td></tr></table></td></tr></table>

<table>Formation control of a mixed FG.</table>

Discrete Dynamics in Nature and Society

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Figure 2

Figure 2: Decentralized Discrete-Time Formation Control for Multirobot Systems 