图  1  平面非完整性智能体运动学模型示意图

Fig.  1  Kinematic model diagram of planar non-holonomic systems

图  2  $λ_i(t)$ 与 $\widetilde{λ}_i(t)$ 近似关系示意图

Fig.  2  Diagram of approximate relationship between $λ_i(t)$ and $\widetilde{λ}_i(t)$

图  3  实验用差分驱动轮式机器人照片

Fig.  3  A photo of experimental differentially driven wheeled mobile robots

图  4  三角形编队实验中各智能体的运动轨迹

Fig.  4  Trajectories of agents in experiments presented in triangle formation

图  5  三角形编队实验中智能体 $1$ 和智能体 $2$ 对期望队形的跟踪效果

Fig.  5  Tracking performance of Agent $1$ and Agent $2$ in triangle formation experiment

图  6  环绕编队中各智能体的轨迹

Fig.  6  Trajectories of agents in the surrounding formation experiment

图  7  环绕编队中各智能体对期望的队形的跟踪性能

Fig.  7  Tracking performance of agents on desired formation in the surrounding formation experiment

图  8  经过偏移后的环绕编队中各智能体的跟踪性能

Fig.  8  Tracking performance of agents on desired formation in the transferred surrounding formation experiment