Distributed control of angle-constrained cyclic formations using bearing-only measurements. (English) Zbl 1283.93030

Summary: This paper studies distributed control of multi-vehicle formations with angle constraints using bearing-only measurements. It is assumed that each vehicle can only measure the local bearings of their neighbors and there are no wireless communications among the vehicles. The desired formation is a cyclic one, whose underlying information flow is described by an undirected cycle graph. We propose a distributed bearing-only formation control law that ensures local exponential or finite-time stability. Collision avoidance between any vehicles can be locally guaranteed in the absence of inter-vehicle distance measurements.


93A14 Decentralized systems
68T42 Agent technology and artificial intelligence
Full Text: DOI arXiv


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