“…For example, a large swarm of robots can first synchronize their attitudes and positions to form a certain formation pattern, then track the common desired trajectory to accomplish the given mission. In production processes, such as manufacturing and automotive applications, where high flexibility, manipulability, and maneuverability cannot be achieved by a single system [38], there has been widespread interest in cooperative schemes for multiple robot manipulators that track a predefined trajectory. A stellar formation flight interferometer [8], [9] is another example where precision control of relative spacecraft motions is indispensable.…”