Figure 2
The illustration consists of three plots. Left plot (a), “Path of three robots”: The horizontal axis is labeled “X,” ranging from 0 to 100 with an interval of 20. The vertical axis is labeled “Y,” ranging from negative 20 to 70 with an interval of 10. It displays the trajectories of three robots as blue dashed lines with arrow markers and numeric labels 2, 3, and 5, all navigating within a winding corridor on the X-Y coordinate grid. The corridor is outlined by two polygonal boundary lines, one black and one red, surrounding the paths. The robots’ paths follow the corridor’s turns and remain close together. The paths of robots 2, 3, and 5 start from (4.5, negative 5), follow closely the path of each other by passing through (20, negative 18), (40, 30), (80, negative 10), and (94, 40), and end at (2.2, 57.5). Upper right plot (b), “Formation errors”: The horizontal axis is labeled “Time (second),” ranging from 0 to 300 with an interval of 50. The vertical axis is labeled “Formation Error (meter),” ranging from negative 4 to 4 with an interval of 1. The red line curve labeled “Robot 1” starts from (0, 0), fluctuates over time while passing through (45.2, 1.33) and (125, negative 2), and ends at (324, 0). The red dash-dotted line curve labeled “Robot 2” starts from (0, 0), fluctuates over time while passing through (50, negative 3.65) and (150, 2.75), and ends at (324, 0). The blue line curve labeled “Robot 3” starts from (0, 0), fluctuates over time while passing through (40, 3) and (155, negative 2.3), and ends at (324, 0). Lower right plot (c), “Distances to the paths”: The horizontal axis is labeled “Time (second),” ranging from 0 to 350 with an interval of 50. The vertical axis is labeled “Distance (meter),” ranging from negative 2 to 4 with an interval of 1. The red line curve labeled “Robot 1” starts from (0, negative 0.11), fluctuates over time while passing through (143, 0.88) and (1696.4, negative 1.12), and ends at (365, 0). The red dash-dotted line curve labeled “Robot 2” starts from (0, 0), fluctuates over time while passing through (50, negative 1) and (135, 2), and ends at (365, 0). The blue line curve labeled “Robot 3” starts from (0, negative 0.5), fluctuates over time while passing through (128.86, 3.46) and (192.5, negative 0.47), and ends at (365, 0). Note: All the numerical data values are approximated.3 robot move along its path alone. Source: This study