An Adaptive 𝐻^∞-Based Formation Control for Multirobot Systems

Table 2

Agents initial positions.

Agent number	1	2	3	4	5	6
𝑥0	−2.5	+2.0	−1.0	+1.0	+2.0	+2.5
𝑦0	+1.0	−2.5	+1.0	−1.0	+2.5	−1.0