Research Article
Leader-Follower Based Locally Rigid Formation Control
Table 1
Numerical values of initial and final states, constraints, and parameters for Scenario 1.
| ā | Initial configuration |
| Rectangular positions | and | Velocities | and , for | Angular positions | , for | Parking bays | and | and | and | and |
| ā | Constraints and parameters |
| Dimensions of robots | and for | Leaderās target | ; | Final orientations | |
| Max. translational velocity | | Max. steering angle | | Clearance parameters | and | Fixed obstacles | , , and | and for |
| ā | Control and convergence parameters |
| Collision avoidance | , for , | , for , | , for , | , , and | for | Dynamics constraints | , for | Convergence | , , , and |
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