Figure 7
The illustration contains four plots, each displaying time-series curves for 10 robots in different metrics. The legend on each plot depicts the curves for Robot 1 (red line), Robot 2 (red dash-dotted line), Robot 3 (blue line), Robot 4 (blue dash-dotted line), Robot 5 (black line), Robot 6 (black dash-dotted line), Robot 7 (olive line), Robot 8 (olive dash-dotted line), Robot 9 (green line), and Robot 10 (green dash-dotted line). For each plot, the horizontal axis is labeled “Time (second),” ranging from 0 to 350 with an interval of 50. All line curves on each plot start approximately at (0, 0) and end at (365, 0). (a) The top left plot shows “Curves of formation error along the path,” with the vertical axis labeled “Formation Error (meter),” ranging from negative 20 to 15 with an interval of 5. The plot is densely populated with overlapping lines, emphasizing similarities and differences in formation error throughout the time course. The olive dash-dotted line and olive line surround the other lines from above and below, respectively. These two lines attain their peaks at (17, 13) and (17, negative 12.5), respectively. All the lines converge at (165, 0) and (220, 0). (b) The top right plot shows “Averaged rotational speeds,” with the vertical axis labeled “Speed (radian per second),” ranging from negative 15 to 20 with an interval of 5. The lines are densely packed, with values fluctuating rapidly, especially at the start, (60, 15), (100, negative 10), and around (200, 15). Peaks reach up to 19 radians per second, and dips fall to negative 13 radians per second. (c) The bottom left plot presents “Curves of averaged forward speeds,” with the vertical axis labeled “Speed (meter per second),” ranging from 0.5 to 1.5 with an interval of 0.5. The robot lines display frequent, rapid fluctuations and overlap, with some robots maintaining higher speeds between 1.2 meters per second and 0.8 meters per second than others throughout the time period. (d) The bottom right plot displays “Curves of deviation from robots to paths,” with the vertical axis labeled “Speed (meter per second),” ranging from negative 6 to 8 with an interval of 2. Robots’ deviation speeds fluctuate, with some curves moving well above or below zero and others remaining closer to the baseline. The uppermost line is olive line which peaks at (146, 6.05) and (300, 4.1), and the lowermost line is olive dash-dotted line, which reaches (20, negative 4.5) and (255, negative 4.4). Note: All the numerical data values are approximated.Formation and path following errors. Source: This study