Behavior-Based Formation Control of Swarm Robots

Table 7

The control parameters of the behavior-based method in situation of obstacles.

𝑎𝑚	𝑏𝑚	𝑎0	𝑏0	𝑎𝑟	𝑏𝑟	𝑎𝑘
1.0	3.0	1.0	4.0	2.0	2.0	1.0