Bearing-Constrained Formation Control Using Bearing Measurements
نویسندگان
چکیده
This paper studies distributed control of bearing-constrained multiagent formations using bearing-only measurements. In order to analyze bearing-constrained formations, we first present a bearing rigidity theory that is applicable to arbitrary dimensions. Based on the proposed bearing rigidity theory, we investigate distributed bearing-only formation control in arbitrary dimensions in the presence of a global reference frame whose orientation is known to each agent. Using a Lyapunov approach, we show that the control law stabilizes infinitesimally bearing rigid formations almost globally and exponentially. The results are demonstrated with simulation examples.
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