Bearing-Based Formation Maneuvering

Abstract

This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional approaches where the target formation is defined by inter-neighbor relative positions or distances, we propose a bearing-based approach where the target formation is defined by inter-neighbor bearings. Due to the invariance of the bearings, the bearing-based approach provides a natural solution to formation scale control. We assume the dynamics of each agent as a single integrator and propose a globally stable proportional-integral formation maneuver control law. It is shown that at least two leaders are required to collaborate in order to control the centroid and scale of the formation whereas the followers are not required to have access to any global information, such as the velocities of the leaders.

To appear in the 2015 IEEE Multi-Conference on Systems and Control (MSC2015); this is the final version

References in corpus (1)

• Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization

Cited by in corpus (4)

• Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life Beyond Distance Rigidity
• Localizability and Distributed Protocols for Bearing-Based Network Localization in Arbitrary Dimensions
• Translational and Scaling Formation Maneuver Control via a Bearing-Based Approach
• Bearing-Based Formation Stabilization with Directed Interaction Topologies