Range-only Distributed Formation Control and Network Localization based on Distributed Contracting Bearing Estimators
Jin Chen, Matteo Marcantoni, Bayu Jayawardhana · 2024
This paper investigates the distributed formation control problem solely based on range-only measurement, without the availability of bearing or relative bearing information. Without bearing information, local relative position necessary for maintaining rigid formation control cannot be obtained only based on range measurement. Correspondingly, range-only bearing estimator for a single landmark is proposed that can be directly combined with standard distributed rigid formation control law. Asymptotic stability analysis of the desired formation shape is presented and the proposed distributed approach is validated via numerical simulations.