diff --git a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch
index f1764b5ffcdd08264ccc8928da671fdeac28b485..407ec50e38f0dc5b0a9c8cb0ec696c2d4e069e50 100644
--- a/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch
+++ b/real_robot/coordination_formation_control_pkg/launch/mission_controller.launch
@@ -14,7 +14,7 @@
    </group>
 
    <group ns="uav_2">
-        <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e ">
+        <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e gdb --args ">
         </node>
     </group>
     <group ns="uav_3">
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag
index 6a388155d749283cf6da36cea8f6623e4bad4edc..f935def08549ce95538cf126e91bc06c8d7f9762 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_1_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag
index ed6cec37554d918d3dafc28d3528bd415549863c..fc48456c5dd95b6e6d33aa537bfcd8512e5f95a0 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_2_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag
index 78ff8ead0abcf0bfedfafd098d0eceebdd202e49..ed66c636d7a639a4a7955ec42ea130c1833f3a4f 100644
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_3_logdata.bag differ
diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_4_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_4_logdata.bag
deleted file mode 100644
index 31c590f1fac983b957377ac819a7454f35f9d06e..0000000000000000000000000000000000000000
Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_1_trianglular_formation_crazyflie_4_logdata.bag and /dev/null differ
diff --git a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
index f705aaff2b3e8de7ed75f82a46f3793649a3b387..d703a8562749e2018c99457b3208d9a834b17d57 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
+++ b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
@@ -42,12 +42,12 @@ for topics, msg, t in bag.read_messages(topics =[topic_name]):
         pose_row_[ind*2+1] = pose.position.y
         twist_row_[ind*2] = msg.current_twist[ind].linear.x
         twist_row_[ind*2+1] = msg.current_twist[ind].linear.y
-        acc_row_[ind*2] = msg.current_acce[ind].linear.x
-        acc_row_[ind*2+1] = msg.current_acce[ind].linear.y
+        acc_row_[ind*2] = msg.current_acc[ind].linear.x
+        acc_row_[ind*2+1] = msg.current_acc[ind].linear.y
     t_.append(msg.header.stamp.secs + msg.header.stamp.nsecs*1e-9);
     pose_data.append(pose_row_);
     vel_data.append(twist_row_);
-    acc_row_.append(acc_row_);
+    acc_data.append(acc_row_);
     command_pose_data.append([msg.command_pose.x, msg.command_pose.y, msg.command_pose.theta]);
     command_twist_data.append([msg.command_twist.linear.x, msg.command_twist.linear.y]);
     input_data.append([msg.input.x, msg.input.y])
@@ -63,8 +63,8 @@ t_np = np.array(t_)
 t_np = t_np -t_np[0]
 pose_data_np = np.array(pose_data);
 vel_data_np = np.array(vel_data);
-acc_data_np = np.array(acc_row_);
-
+acc_data_np = np.array(acc_data);
+print(acc_data_np)
 x_list = range(0,n_robots_logged*2,2);
 y_list = range(1,n_robots_logged*2,2);
 x_list_np = np.array(pose_data_np[:,x_list]);
@@ -155,21 +155,21 @@ st = fig3.suptitle("Accleration", fontsize="x-large")
 robot_names = []
 for i in range(n_robots_logged):
     robot_names.append("robot_" + str(i+1))
-    vx = acc_data_np[:,i*2];
-    vy = acc_data_np[:,i*2+1]
-    axs3[0, 0].plot(t_np,vx )
-    axs3[0, 1].plot(t_np, vy)
-    axs3[1, 0].plot(t_np, np.sqrt(np.multiply(vx,vx)+np.multiply(vy,vy)))
-
-axs3[0, 0].set_ylabel("ax(m)")
-axs3[0, 0].set_xlabel("time(s)")
-axs3[0, 0].legend(robot_names)
-axs3[0, 1].set_ylabel("ay(m)")
-axs3[0, 1].set_xlabel("time(s)")
-axs3[0, 1].legend(robot_names)
-axs3[1, 0].set_ylabel("a(m/s)")
-axs3[1, 0].set_xlabel("time(s)")
-axs3[1, 0].legend(robot_names)
+    ax = acc_data_np[:,i*2];
+    ay = acc_data_np[:,i*2+1]
+    axs4[0, 0].plot(t_np,ax )
+    axs4[0, 1].plot(t_np, ay)
+    axs4[1, 0].plot(t_np, np.sqrt(np.multiply(ax,ax)+np.multiply(ay,ay)))
+
+axs4[0, 0].set_ylabel("ax(m)")
+axs4[0, 0].set_xlabel("time(s)")
+axs4[0, 0].legend(robot_names)
+axs4[0, 1].set_ylabel("ay(m)")
+axs4[0, 1].set_xlabel("time(s)")
+axs4[0, 1].legend(robot_names)
+axs4[1, 0].set_ylabel("a(m/s)")
+axs4[1, 0].set_xlabel("time(s)")
+axs4[1, 0].legend(robot_names)
 
 
 # multple robot plot for comparision
diff --git a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
index b873bbb8ec55073990602c08ca76f682daed1992..80d41a618ad635bac4054adf707b8c5c6861316c 100644
--- a/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/drone_node.cpp
@@ -59,6 +59,7 @@ int main(int argc, char **argv) {
   logdata = new coordination_formation_control_pkg::logData();
   logdata->current_pose.resize(n_drones);
   logdata->current_twist.resize(n_drones);
+  logdata->current_acc.resize(n_drones);
 
   /* current command*/
   crazyswarm::Hover current_command;
diff --git a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
index 756bb0ea801173331b7628dbe44cbcbfc03c69d2..23015271dfa0b4fb084532a7e2007bdefb2b8e3b 100644
--- a/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/omniwheel_node.cpp
@@ -52,6 +52,7 @@ int main(int argc, char **argv) {
   logdata = new coordination_formation_control_pkg::logData();
   logdata->current_pose.resize(n_ugvs);
   logdata->current_twist.resize(n_ugvs);
+  logdata->current_acc.resize(n_ugvs);
 
   /*current command*/
   geometry_msgs::Twist current_command;