Bearing-Only Control of Leader First Follower Formations**This work was supported by the National Research Foundation of Korea under Grant NRF-2015M2A8A4049953.
Minh Hoang Trinh, Kwang‐Kyo Oh, Kyungmin Jeong, Hyo‐Sung Ahn · IFAC-PapersOnLine · 2016
This paper proposes a bearing-only based control law to stabilize leader-first follower formations consisting of single-integrator modeled agents. For leader-first follower formations, under the proposed control law, the N-agents formation is proved to be almost globally asymptotically stable and locally exponentially stable in Rd. Collision avoidance between the agents in the formation is also analyzed.