Formation Control of Robotic Swarm Using Bounded Artificial Forces

<table>Comparison on original and modified <svg height="16.65" id="M178" style="vertical-align:-4.39394pt" version="1.1" viewbox="0 0 22.85 16.65" width="22.85" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
t29.5 81.5l72 387l7.5 40.5t1 26.5t-4 18t-15.5 10t-24 6t-37 4l8 28h461z" id="x1D439"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.637,15.187)"><path d="M244 607q0 -25 -15.5 -43t-37.5 -18q-19 0 -32 13t-13 35q0 21 15 41t39 20q20 0 32 -14t12 -34zM222 91q-29 -33 -79 -68t-75 -35q-13 0 -19 7.5t-6 31t10 65.5l62 253q5 26 -1 26q-21 0 -72 -43l-13 24q43 40 91 68t71 28q30 0 10 -78l-71 -274q-8 -30 3 -30
q16 0 76 48z" id="x1D456"></path></g><g transform="matrix(.012,-0,0,-.012,13.886,15.187)"><path d="M95 130q31 0 61 -30t30 -78q0 -53 -38 -87.5t-93 -51.5l-11 29q77 31 77 85q0 26 -17.5 43t-44.5 24q-4 0 -8.5 6.5t-4.5 17.5q0 18 15 30t34 12z" id="x2C"></path></g><g transform="matrix(.012,-0,0,-.012,16.599,15.187)"><path d="M445 282q0 -64 -27.5 -125t-80.5 -104q-80 -65 -168 -65q-73 0 -109.5 46.5t-36.5 116.5q0 92 46.5 163t119.5 104q66 30 108 30q67 0 107.5 -43.5t40.5 -122.5zM355 280q0 62 -26.5 94.5t-64.5 32.5q-26 0 -44 -8q-39 -18 -74 -82t-35 -163q0 -57 25.5 -90.5t70.5 -33.5
q22 0 36 6q46 20 79 89t33 155z" id="x1D45C"></path></g>
</svg> on impasse resolution.</table>

The Scientific World Journal

Formation Control of Robotic Swarm Using Bounded Artificial Forces

Figure 3