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Fig 1.

Relative bearing measurements of the leader robot with two different landmarks.

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Fig 2.

Leader-follower coordinate representation.

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Fig 3.

Block diagram of the input-output feedback control based on the UKF.

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Fig 3 Expand

Fig 4.

The simulation scene of the mobile robots.

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Fig 5.

The leader robot system performance.

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Fig 6.

The leader-follower formation system performance.

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Fig 6 Expand

Table 1.

Algorithm runtime: EIF Versus PF.

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Table 1 Expand

Table 2.

Algorithm performance: EIF Versus PF.

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Table 2 Expand