Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems

Table 1

Initial values and formation vectors for static whole motion.

Serial number
1	(−5, −1)	(−1, 0.5)	(2, 0)
2	(−3, 0)	(−0.8, −1)	(1, 1.732)
3	(0, −1)	(0.3, −0.2)	(−1, 1.732)
4	(3, 3)	(0.2, 0.2)	(−2, 0)
5	(3, 0)	(−0.4, 0.3)	(−1, −1.732)
6	(2, −1)	(0.1, 0.2)	(1, −1.732)