<svg     style="vertical-align:-4.47127pt;width:37.537498px;" id="M1" height="21.387501" version="1.1" viewBox="0 0 37.537498 21.387501" width="37.537498"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
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			<g transform="matrix(.016,-0,0,-.016,20.287,20.575)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
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</svg> Formation Control and Obstacle Avoidance for Hybrid Multi-Agent Systems

<table>Investigation of parameters <svg height="13.3" id="M265" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 9.7624998 13.3" width="9.7624998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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t0.5 -143.5h2q155 193 155 297q0 26 -12 47q-5 8 -5 15q0 16 12.5 27t29.5 11q21 0 34 -21t13 -55z" id="x1D6FE"></path></g>
</svg>, <svg height="13.3" id="M266" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 10.4125 13.3" width="10.4125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.625,8.238)"><path d="M516 277q0 -126 -140 -231q-36 -27 -75.5 -42.5t-63.5 -15.5q-38 0 -73 43q-10 -44 -18 -106q-18 -134 -32 -151q-12 -16 -40 -25t-46 -10l-5 14q22 38 84 406q16 92 44.5 146.5t88.5 95.5q68 47 136 47q63 0 101.5 -47.5t38.5 -123.5zM432 259q0 61 -27 101t-79 40
t-82 -49t-49 -148l-24 -127q42 -36 88 -36q79 0 126 61.5t47 157.5z" id="x1D70C"></path></g>
</svg>, and <svg height="13.55" id="M267" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 10.0375 13.55" width="10.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.625,12.725)"><path d="M494 514l-10 -15q-56 76 -106.5 117t-110.5 41q-45 0 -45 -30q0 -28 109 -152q59 -68 86 -118.5t27 -107.5q0 -62 -29.5 -119.5t-86.5 -96.5q-64 -45 -138 -45q-76 0 -121.5 53t-45.5 136q0 74 40.5 135t98.5 95q43 26 87 42q-40 59 -57.5 92t-17.5 62q0 46 39 77.5
t90 31.5q54 0 97.5 -35.5t65 -78.5t28.5 -84zM359 234q0 84 -90 191q-47 -17 -74 -47q-81 -89 -81 -200q0 -71 32.5 -109.5t72.5 -38.5q47 0 80 33t46.5 77.5t13.5 93.5z" id="x1D6FF"></path></g>
</svg>.</table>

Journal of Applied Mathematics

fig5

Figure 5

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			<g transform="matrix(.022,-0,0,-.022,.625,15.187)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
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			<g transform="matrix(.016,-0,0,-.016,20.287,20.575)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
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</svg> Formation Control and Obstacle Avoidance for Hybrid Multi-Agent Systems 