A <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.5269pt" id="M1" height="16.7875pt" version="1.1" viewBox="-0.0657574 -12.2606 19.4228 16.7875" width="19.4228pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-101" d="M530 686C535 705 530 712 521 712C504 712 448 684 359 674L358 648H393C437 648 439 646 429 593L400 435C372 447 345 448 332 448C286 448 194 414 144 373C68 311 23 203 23 111C23 26 57 -12 91 -12C120 -12 147 3 188 29C227 54 290 102 341 170H343L322 71C308 6 320 -12 341 -12C373 -12 442 27 501 96L485 120C455 91 422 67 408 67C401 67 401 76 404 91C440 294 479 473 530 686ZM387 375L355 241C326 187 200 53 142 53C126 53 109 73 109 130C109 217 154 337 218 381C240 396 265 404 297 404S372 390 387 375Z"/></g><g transform="matrix(.017,0,0,-0.017,9.524,0)"><path id="g113-243" d="M542 242C542 369 469 429 379 468C370 472 372 496 376 513L416 681L400 691L344 648L219 51C167 69 113 128 113 217C113 324 166 387 266 428L252 459C124 418 23 336 23 202C23 95 90 13 205 -8L182 -132C165 -222 191 -254 209 -261L215 -258L270 -7C415 -4 542 98 542 242ZM469 232C469 126 403 33 279 39L355 409C399 394 469 331 469 232Z"/></g></svg>-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

<div>Evolution of trajectories for a lead-carrier team consisting of one leader and three carriers. The corners of the boxes represent the position of the end-effectors of the leader and the three followers. Here we have a rectangular formation.</div>

Journal of Advanced Transportation

fig8

Figure 8

Figure 8: A <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.5269pt" id="M1" height="16.7875pt" version="1.1" viewBox="-0.0657574 -12.2606 19.4228 16.7875" width="19.4228pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-101" d="M530 686C535 705 530 712 521 712C504 712 448 684 359 674L358 648H393C437 648 439 646 429 593L400 435C372 447 345 448 332 448C286 448 194 414 144 373C68 311 23 203 23 111C23 26 57 -12 91 -12C120 -12 147 3 188 29C227 54 290 102 341 170H343L322 71C308 6 320 -12 341 -12C373 -12 442 27 501 96L485 120C455 91 422 67 408 67C401 67 401 76 404 91C440 294 479 473 530 686ZM387 375L355 241C326 187 200 53 142 53C126 53 109 73 109 130C109 217 154 337 218 381C240 396 265 404 297 404S372 390 387 375Z"/></g><g transform="matrix(.017,0,0,-0.017,9.524,0)"><path id="g113-243" d="M542 242C542 369 469 429 379 468C370 472 372 496 376 513L416 681L400 691L344 648L219 51C167 69 113 128 113 217C113 324 166 387 266 428L252 459C124 418 23 336 23 202C23 95 90 13 205 -8L182 -132C165 -222 191 -254 209 -261L215 -258L270 -7C415 -4 542 98 542 242ZM469 232C469 126 403 33 279 39L355 409C399 394 469 331 469 232Z"/></g></svg>-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team 

Journal of Advanced Transportation

A -Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Figure 8