Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance
Roberto Tron, Justin R. Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar · 2016
We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.