Leader-Follower Based Locally Rigid Formation Control

<div>Accelerations <svg height="9.32509pt" id="M331" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -6.14359 16.2797 9.32509" width="16.2797pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.76,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.192,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g></svg> and <svg height="9.32509pt" id="M332" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -6.14359 16.2797 9.32509" width="16.2797pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.76,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.192,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg> of <svg height="12.0262pt" id="M333" style="vertical-align:-3.18153pt" version="1.1" viewbox="-0.0498162 -8.84467 16.2027 12.0262" width="16.2027pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M837 672C829 675 822 674 813 674C710 674 608 541 510 398C475 447 422 480 349 480C260 480 162 415 162 299C162 199 212 133 284 92C229 39 191 15 134 15C91 15 69 45 69 65H71C78 54 95 53 100 53C128 53 143 80 143 101C143 128 121 149 93 149C60 149 31 121 31 77C31 24 74 -15 138 -15C198 -15 255 22 311 79C360 56 416 43 473 39L455 0H552L569 42C612 49 661 63 693 87L684 103C657 88 617 76 581 69C677 301 753 477 846 658L837 672ZM772 638C701 530 628 379 559 227C558 279 547 330 526 371C609 494 688 609 771 638H772ZM536 199C536 191 536 184 535 176L486 67C430 71 380 84 335 105C395 173 451 257 507 344C527 301 536 251 536 199ZM492 372C431 277 369 183 310 119C245 158 203 217 203 301S275 447 349 447C416 447 461 417 492 372Z" id="g198-2"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.115,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g></svg> for Scenario 1.</div>

Journal of Advanced Transportation

Leader-Follower Based Locally Rigid Formation Control

Figure 9