x1=linspace(0,10,100); //x1 and y1 represent the leader's path
y1=sin(x1);
plot(x1(1:100),y1(1:100));
hold on;

x2=zeros(1,100);
y2=zeros(1,100);

x2(1)=-5; //x2, y2 represent the follower's position
x2(2)=-4;
landa=0.1; //represents the euclidean distance between robots

theta_leader(2)=atan((y1(2)-y1(1))/(x1(2)-x1(1)));
theta_follower(2)=atan((y2(2)-y2(1))/(x2(2)-x2(1)));
alfa(2)=atan((y1(2)-y2(2))/(x1(2)-x2(2)))-theta_follower(2);
phi(2)=pi-(theta_leader(2) - alfa(2) - theta_follower(2));

for i=3:100
     landa(i)=0.1;
      x2(i)=x1(i)*cos(theta_leader(i-1))-landa(i)*cos(alfa(i-1)+theta_follower(i-1));
      y2(i)=y1(i)*sin(theta_leader(i-1))-landa(i)*sin(alfa(i-1)+theta_follower(i-1));

      theta_leader(i)=atan((y1(i)-y1(i-1))/(x1(i)-x1(i-1)));

      alfa(i)=atan((y1(i)-y2(i))/(x1(i)-x2(i)))-theta_follower(i-1);
      phi(i)=pi-(theta_leader(i) - alfa(i) - theta_follower(i-1));
      theta_follower(i)=phi(i)-alfa(i)+theta_leader(i)-3.1415;
  end

  plot(x2,y2,'or');