Leader-Follower Based Locally Rigid Formation Control

Table 2

Numerical values of initial and final states, constraints, and parameters for Scenario 3.

	Initial configuration
Rectangular positions	, ,
	, and
	,
	, and
Velocity and angular position	, , and for
	Constraints and parameters
Leader’s target	;
Final orientations	for
	Control and convergence parameters
Obstacle avoidance	, for ,
	, for ,
	, for , ,
Collision avoidance	, for ,
Dynamics constraints	, for ,
Convergence	20,500,  10,500,  , and for