N-Groups formation of differential Robots
a) One Agent
c) Four Agents
b) Two agents
d) Eight Agents
Fig. 4: Response to trajectory tracking control for the sine function (6) and different number of groups in the formation.
a) Circle
c) Lemniscate of Bernoulli
e) Flower curve
b) Limacon curve
d) Lissajous curve
f) Duffing equation
Fig. 5: Responses to trajectory tracking control for a different functions with two groups of agents.
Extra simulations
a) I-Shape
b) Rectangle Shape
c) V-Shape
Fig. Response to trajectory tracking control for the circle function, with four groups of agents and different shapes.
Fig. Response to trajectory tracking control for the Lemniscate of Bernoulli function, with four groups of agents.
a) I-Shape
b) Square-Shape
c) V-Shape
Fig. Response to trajectory tracking control for the circle function, with two groups of agents and different shapes.