Formation Control of Robotic Swarm Using Bounded Artificial Forces

Figure 4

Distribution of original and modified 𝐹_𝑖,𝑎 and 𝐹_𝑖,𝑟 nearby the shape contour.

(a) Original 𝐹_𝑖,𝑎 and 𝐹_𝑖,𝑟

(b) Modified 𝐹_𝑖,𝑎 and 𝐹_𝑖,𝑟