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**Distributed control of triangular formations with angle-only constraints.**
*(English)*
Zbl 1186.93003

Summary: This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.

### MSC:

93A14 | Decentralized systems |

93B51 | Design techniques (robust design, computer-aided design, etc.) |

93B35 | Sensitivity (robustness) |

### Keywords:

angle constraints; bearing-only measurements; distributed control; formation control; multi-agent systems
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\textit{M. Basiri} et al., Syst. Control Lett. 59, No. 2, 147--154 (2010; Zbl 1186.93003)

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### References:

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