Attallah, AlyAlyAttallah2021-03-262021-03-262021-03-26http://hdl.handle.net/11420/9157This animation displays a leader always located at formation center and follows a desired trajectory (solid cyan line), and followers track it with the required formations. Because the robots are moving, a consensus on orientation is achieved. It also shows the robots' orientation during the journey, and at every formation reference change, the orientations converge.https://creativecommons.org/licenses/by-sa/4.0/IngenieurwissenschaftenInteractive Resource10.15480/336.340110.15480/336.3401Online Resource