Stability Analysis and Variational Integrator for Real-Time Formation Based on Potential Field

Table 1

Initial conditions of vehicles.

Label of vehicle 𝑖	𝑥^𝑖0 (m)	𝑦^𝑖0 (m)
1	9.33	50.0
2	5.00	47.5
3	5.00	52.5