Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

Table 1

Fuzzy rule base.

𝑆𝑥𝑖 (𝑆𝑦𝑖)	NB	NM	NS	PS	PM	PB
𝑢𝑥𝑖 (𝑢𝑦𝑖)	PB	PM	PS	NS	NM	NB