diff --git a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
index 04aecd3c6e9657b7656a101ff9c3f6d745632f4e..95d79a1272096317bbff1e5de94b523e63e8e6ad 100644
--- a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
+++ b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml
@@ -3,7 +3,7 @@ uav_c1_alpha: 0.20
 uav_c2_alpha: 0.3 # this is recomputed
 uav_c1_beta: 0.3
 uav_c2_beta: 0.1 # this is recomputed
-uav_c1_gamma: 0.25
+uav_c1_gamma: 0.2
 uav_c2_gamma: 0.2
 uav_c1_theta: 0.1
 uav_c1_delta: 0.07
@@ -45,7 +45,7 @@ ugv_c1_theta: 0.2
 ugv_c1_delta: 0.07
 
 
-ugv_d: 0.8
+ugv_d: 0.4
 ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
 ugv_k: 7
 ugv_ratio:  0.8 # /* ratio between dist inter and obstacle*/
diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
index 7e2f797b9124333356696dbbbc2e3a61396d026b..1cf3ceb1d87af450f8d67b133aa40e8d67cb7569 100644
--- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
+++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml
@@ -1,10 +1,10 @@
 n_drones: 3
-n_ugvs: 1
+n_ugvs: 2
 hz_freq: 50 # controller frquency
 include_obstacle: false
 include_orientation: false
 n_obs: 0
-log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result"
+log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result"
 enable_log: true
 
 # waypoint
diff --git a/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch b/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch
index c943c0657cc2c3d232a0a874cf7db82b130f5ae6..279a0cb28bc17f0d2be76804b7179efa6baf8de2 100644
--- a/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch
+++ b/real_robot/coordination_formation_control_pkg/launch/bringup_crazyflie_servers.launch
@@ -10,7 +10,7 @@
     <rosparam>
       # Logging configuration (Use enable_logging to actually enable logging)
       genericLogTopics: ["position", "velocity","acceleration"]
-      genericLogTopicFrequencies: [30,30,30]
+      genericLogTopicFrequencies: [50,50,50]
       genericLogTopic_position_Variables: ["stateEstimateZ.x", "stateEstimateZ.y","stateEstimateZ.z", "stateEstimate.yaw"]
       genericLogTopic_velocity_Variables: ["stateEstimateZ.vx", "stateEstimateZ.vy","stateEstimateZ.vz"]
       genericLogTopic_acceleration_Variables: ["stateEstimateZ.ax", "stateEstimateZ.ay","stateEstimateZ.az"]
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag
index 7738081e3f4eb2e7f25867727b47fc760f02542f..fed17b30bf56b59b4c253caa953d3b6364e28bb2 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag
index e3f4ed4fdc86b24940891a381d44846f6c114268..3ecd78e25343605807b50dc930228c2972217d19 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag
index c3311674b81c6329b2128ca639eb63dfc471cbf2..858e1ffa7e9acb502d1201e1be6ef5392d352f0a 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag
index 2179b4d559540d54f0c9f45ec7cc3d441df79843..dc0126a9e012d218c56225ea2853889293a417b5 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_23_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/notes.MD
new file mode 100644
index 0000000000000000000000000000000000000000..0dc9e116ca604ab71b74b80a7722228c24d8d4e5
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/notes.MD
@@ -0,0 +1,84 @@
+# Goal
+- Maintain the current centroid
+- X: 1.6
+- Y: 0
+- Vx: 0.001
+- Vy: 0
+- Orientation 0
+
+Experiment premises
+Flockinr g and cooridnation with 1 ugv
+
+#comments
+
+Worked like a charm also
+
+# Mission configuration
+n_drones: 3
+n_ugvs: 0
+hz_freq: 50 # controller frequency
+include_obstacle: false
+include_orientation: true
+n_obs: 0
+## Formation configuration
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.3 # this is recomputed
+uav_c1_beta: 0.3
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.25
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.1
+uav_c1_delta: 0.07
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio:  0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type:  1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt:  0.01 #/* sample time*/
+uav_int_max:  0.1 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 0.2
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.3
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.2
+ugv_c1_delta: 0.07
+
+
+ugv_d: 0.8
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio:  0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type:  1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt:  0.02 #/* sample time*/
+ugv_int_max:  0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_2_logdata.bag
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index 0000000000000000000000000000000000000000..8ba07be3a7969d814dd244fbcc32588d6a17da96
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_crazyflie_3_logdata.bag
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index 0000000000000000000000000000000000000000..99a9fd9f6f2ec097bb9bdd91233aa1549334dc88
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_24_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag
new file mode 100644
index 0000000000000000000000000000000000000000..c79eb793aa8ab7415db43f9ef9ebfee5eb64d4b8
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/notes.MD
new file mode 100644
index 0000000000000000000000000000000000000000..3a67d52c8127ed6f1b1dc726ed72331f2ee10ade
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/notes.MD
@@ -0,0 +1,84 @@
+# Goal
+- Maintain the current centroid
+- X: 1.7
+- Y: 0
+- Vx: 0.001
+- Vy: 0
+- Orientation 0
+
+Experiment premises
+Flockinr g and cooridnation with 1 ugv We reduced the distance alot to see the following in action
+
+#comments
+
+Worked like a charm also
+
+# Mission configuration
+n_drones: 3
+n_ugvs: 0
+hz_freq: 50 # controller frequency
+include_obstacle: false
+include_orientation: true
+n_obs: 0
+## Formation configuration
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.3 # this is recomputed
+uav_c1_beta: 0.3
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.25
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.1
+uav_c1_delta: 0.07
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio:  0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type:  1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt:  0.01 #/* sample time*/
+uav_int_max:  0.1 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 0.2
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.3
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.2
+ugv_c1_delta: 0.07
+
+
+ugv_d: 0.4
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio:  0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type:  1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt:  0.02 #/* sample time*/
+ugv_int_max:  0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_crazyflie_1_logdata.bag
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_25_coord_form_3_uav_1_ugv/result_omniwheel_1_logdata.bag
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index 0000000000000000000000000000000000000000..d92514adf33bc7411e86f789cc1b4db71317a1ef
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diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/notes.MD
new file mode 100644
index 0000000000000000000000000000000000000000..3a67d52c8127ed6f1b1dc726ed72331f2ee10ade
--- /dev/null
+++ b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/notes.MD
@@ -0,0 +1,84 @@
+# Goal
+- Maintain the current centroid
+- X: 1.7
+- Y: 0
+- Vx: 0.001
+- Vy: 0
+- Orientation 0
+
+Experiment premises
+Flockinr g and cooridnation with 1 ugv We reduced the distance alot to see the following in action
+
+#comments
+
+Worked like a charm also
+
+# Mission configuration
+n_drones: 3
+n_ugvs: 0
+hz_freq: 50 # controller frequency
+include_obstacle: false
+include_orientation: true
+n_obs: 0
+## Formation configuration
+# Uav
+uav_c1_alpha: 0.20
+uav_c2_alpha: 0.3 # this is recomputed
+uav_c1_beta: 0.3
+uav_c2_beta: 0.1 # this is recomputed
+uav_c1_gamma: 0.25
+uav_c2_gamma: 0.2
+uav_c1_theta: 0.1
+uav_c1_delta: 0.07
+
+# uav_c1_alpha: 0.035
+# uav_c2_alpha: 0.04 # this is recomputed
+# uav_c1_beta: 0.04
+# uav_c2_beta: 0.02 # this is recomputed
+# uav_c1_gamma: 0.02
+# uav_c2_gamma: 0.03
+# uav_c1_theta: 0.3
+# uav_c1_delta: 0.01
+
+uav_d: 0.8
+uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+uav_k: 7
+uav_ratio:  0.8 # /* ratio between dist inter and obstacle*/
+uav_eps: 0.1
+uav_a: 5
+uav_b: 5
+uav_h_alpha: 0.2
+uav_h_beta: 0.9
+uav_d_obs: 0
+uav_nav_type:  1 #/* convergence approach -1, parallel approach 2*/
+uav_integrator: 2 #/* single/ double integrator*/
+uav_dt:  0.01 #/* sample time*/
+uav_int_max:  0.1 #/* maximum integral*/
+
+# ugv
+
+# Uav
+ugv_c1_alpha: 0.2
+ugv_c2_alpha: 1 # this is recomputed
+ugv_c1_beta: 0.3
+ugv_c2_beta: 1 # this is recomputed
+ugv_c1_gamma: 0.25
+ugv_c2_gamma: 0.2
+ugv_c1_theta: 0.2
+ugv_c1_delta: 0.07
+
+
+ugv_d: 0.4
+ugv_formation_t: 2 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/
+ugv_k: 7
+ugv_ratio:  0.8 # /* ratio between dist inter and obstacle*/
+ugv_eps: 0.1
+ugv_a: 5
+ugv_b: 5
+ugv_h_alpha: 0.2
+ugv_h_beta: 0.9
+ugv_d_obs: 0
+ugv_nav_type:  1 #/* convergence approach -1, parallel approach 2*/
+ugv_integrator: 1 #/* single/ double integrator*/
+ugv_dt:  0.02 #/* sample time*/
+ugv_int_max:  0.1 #/* maximum integral*/
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_26_coord_form_3_uav_2_ugv/result_crazyflie_1_logdata.bag
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