Formation Control Algorithm of Agents Based on Earth Mover’s Distance

Table 1

Performance of our algorithm on the different shapes.

Sampling number	Shapes		Times (s)
	Source	Target
200	“A” word	“H” word	2.83
200	“H” word	“Z” word	2.79
300	Rectangle	Pentagram	5.78
300	Pentagram	Circle	5.84
400	Pig	Rabbit	8.12
400	Rabbit	Skiing logo	8.45
200	“2018” word	Olympic rings logo	2.85
600	“Welcome” word	Chinese “welcome” word	14.83
400	Diamond	Four-triangle	6.91