Synchronization-Based Guaranteed-Performance Formation Design for Swarm Systems

Table 2

Initial values and formation vectors for dynamic whole motion.

Serial number
1	(−2.0, 3.0, 2.0)	(1, 0.5, 0)	(−10.4, 0, 0)
2	(2.0, 4.5, 2)	(−2.0, 2.0, 1.5)	(−3.2, 5.7, 5.7)
3	(−1.3, 5.5, 1.3)	(1.5, −1.0, −3.0)	(8.4, 3.5, −3.5)
4	(−3.1, 2.3, 2.1)	(3.0, 0.8, 1.0)	(8.4, −3.5, 3.5)
5	(−2.5, 1.3, 4.0)	(−1.0, 1.0, 0)	(−3.2, −5.7, 5.7)