Formations on directed cycles with bearing‐only measurements
Minh Hoang Trinh, Dwaipayan Mukherjee, Daniel Zelazo, Hyo‐Sung Ahn · International Journal of Robust and Nonlinear Control · 2017
Summary This paper studies a bearing‐only–based formation control problem for a group of single‐integrator agents with directed cycle sensing topology. In a 2‐dimensional space, a necessary and sufficient condition for the set of desired bearing vectors to be feasible is derived. Then, we propose a bearing‐only control law for every agent and prove that the formation asymptotically converges to a formation specified by a set of feasible desired bearing vectors. Analysis of the equilibrium formations in the plane for a 3‐agent system and subsequent extension to an n‐agent system is provided. We further extend the analysis on directed triangular formation into a 3‐dimensional space. Finally, simulations validate the theoretical results.