Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs

Figure 10

Generation of the 3D minimally persistent graph based on G10 with the top-down strategy. (a) The contour map of UAVs. (b) The formation generation in the first subspace. (c) The formation generation in the second subspace. (d) The formation generation in the third subspace.

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