Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

<div>Configuration of 3 agents showing distance <svg height="11.4899pt" id="M173" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 14.2584 11.4899" width="14.2584pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M393 379C402 394 400 411 393 422C384 437 365 448 348 448C301 448 237 372 186 285H182L193 335C210 408 205 448 178 448C150 448 80 402 29 344L45 321C80 355 114 373 122 373C128 373 130 365 124 330C106 228 76 98 50 -5L57 -12C82 -5 112 3 132 6L172 203C196 256 234 304 254 329C275 355 293 367 306 367C318 367 330 360 342 348C347 343 355 343 365 350S386 367 393 379Z" id="g113-115"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.901,3.132)"><path d="M400 606C400 634 383 656 353 656C316 656 294 620 294 593C294 564 317 545 343 545C375 545 400 573 400 606ZM366 351C379 413 381 451 356 451C323 451 251 408 183 341L199 313C223 335 267 365 277 365C285 365 284 354 277 312C245 132 222 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Complexity

fig2

Figure 2

Figure 2: Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints 