List of symbols
| Symbols | Description | Symbols | Description |
|---|---|---|---|
| xi(t) | Position of Robot i at t | ei(t) | Direction of Robot i at t |
| νi(t) | Translational speed | ωi(t) | Rotation speed |
| si | Path of Robot i | pj | Waypoint on the path |
| L/l∗ | Distance along the path | T1/T2 | Energy function |
| α | Control parameter | dij(t) | Shortest distance between Robot i and j |
| ξij(t) | Collision time between Robot i and j | Perpendicular vector to ei(t) | |
| κi(t) | Shape of Robot i | κi,k(t) | Vertice of Robot i |
| Symbols | Description | Symbols | Description |
|---|---|---|---|
| Position of Robot | Direction of Robot | ||
| Translational speed | Rotation speed | ||
| Path of Robot | Waypoint on the path | ||
| Distance along the path | Energy function | ||
| Control parameter | Shortest distance between Robot | ||
| Collision time between Robot | Perpendicular vector to | ||
| Shape of Robot | Vertice of Robot |
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