Leader-Follower Based Locally Rigid Formation Control

Table 1

Numerical values of initial and final states, constraints, and parameters for Scenario 1.

	Initial configuration
Rectangular positions	and
Velocities	and , for
Angular positions	, for
Parking bays	and
	and
	and
	and
	Constraints and parameters
Dimensions of robots	and for
Leader’s target	;
Final orientations
Max. translational velocity
Max. steering angle
Clearance parameters	and
Fixed obstacles	, , and
	and for
	Control and convergence parameters
Collision avoidance	, for ,
	, for ,
	, for ,
	, , and
	for
Dynamics constraints	, for
Convergence	, , , and