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 d703a8562749e2018c99457b3208d9a834b17d57..5421490f93af12a7583ef3819b7f86566f18006b 100644
--- a/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
+++ b/real_robot/coordination_formation_control_pkg/scripts/plot_results.py
@@ -64,7 +64,6 @@ 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_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]);
@@ -173,6 +172,75 @@ axs4[1, 0].legend(robot_names)
 
 
 # multple robot plot for comparision
+####################### Inputs plot ###################################
+fig4, axs5 = plt.subplots(nrows=6, ncols=2, figsize=(7, 7))
+
+axs5[0, 0].plot(t_np,input_data_np[:,0])
+axs5[0, 1].plot(t_np,input_data_np[:,1])
+axs5[1, 0].plot(t_np,input_formation_data_np[:,0])
+axs5[1, 1].plot(t_np,input_formation_data_np[:,1])
+axs5[2, 0].plot(t_np,input_orientation_data_np[:,0])
+axs5[2, 1].plot(t_np,input_orientation_data_np[:,1])
+axs5[3, 0].plot(t_np,input_navigation_data_np[:,0])
+axs5[3, 1].plot(t_np,input_navigation_data_np[:,1])
+axs5[4, 0].plot(t_np,input_obstacle_data_np[:,0])
+axs5[4, 1].plot(t_np,input_obstacle_data_np[:,1])
+axs5[5, 0].plot(t_np,input_integration_data_np[:,0])
+axs5[5, 1].plot(t_np,input_integration_data_np[:,1])
+
+axs5[0, 0].set_ylabel("a(m2/s")
+axs5[0, 0].set_xlabel("time(s)")
+axs5[0, 0].set_title("input")
+axs5[0, 1].set_ylabel("a(m2/s")
+axs5[0, 1].set_xlabel("time(s)")
+axs5[0, 1].set_title("input")
+axs5[1, 0].set_ylabel("a(m2/s")
+axs5[1, 0].set_xlabel("time(s)")
+axs5[1, 0].set_title("input_formation")
+axs5[1, 1].set_ylabel("a(m2/s")
+axs5[1, 1].set_xlabel("time(s)")
+axs5[1, 1].set_title("input_formation")
+axs5[2, 0].set_ylabel("a(m2/s")
+axs5[2, 0].set_xlabel("time(s)")
+axs5[2, 0].set_title("input_orientation")
+axs5[2, 1].set_ylabel("a(m2/s")
+axs5[2, 1].set_xlabel("time(s)")
+axs5[2, 1].set_title("input_orientation")
+axs5[3, 0].set_ylabel("a(m2/s")
+axs5[3, 0].set_xlabel("time(s)")
+axs5[3, 0].set_title("input_navigation")
+axs5[3, 1].set_ylabel("a(m2/s")
+axs5[3, 1].set_xlabel("time(s)")
+axs5[3, 1].set_title("input_navigation")
+axs5[4, 0].set_ylabel("a(m2/s")
+axs5[4, 0].set_xlabel("time(s)")
+axs5[4, 0].set_title("input_obstacle")
+axs5[4, 1].set_ylabel("a(m2/s")
+axs5[4, 1].set_xlabel("time(s)")
+axs5[4, 1].set_title("input_obstacle")
+axs5[5, 0].set_ylabel("a(m2/s")
+axs5[5, 0].set_xlabel("time(s)")
+axs5[5, 0].set_title("input_integration")
+axs5[5, 1].set_ylabel("a(m2/s")
+axs5[5, 1].set_xlabel("time(s)")
+axs5[5, 1].set_title("input_integration")
+axs5[0, 0].set_ylabel("ax(m)")
+axs5[0, 0].set_xlabel("time(s)")
+
+####################### position plot ###################################
+fig6 = plt.figure()
+axs6 = plt.axes()
+# st = fig6.suptitle("Distance plot", fontsize="x-large")
+# plot workspace
+axs6.set_xlim(-3, 3)
+axs6.set_ylim(-2, 2)
+#
+for i in range(n_robots_logged):
+    axs6.plot(pose_data_np[:,i*2],pose_data_np[:,i*2+1])
+axs6.set_ylabel("y(m)")
+axs6.set_xlabel("x(m)")
+axs6.legend(robot_names)
+
 
 
 plt.show()