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Bearing-Based Formation Control of a Group of Agents with Leader-First Follower Structure

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Date

2019

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Abstract

This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.

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Keywords

Bearing-only measurements, Henneberg construction, distributed control, leader-first follower, multi-agent systems

Citation

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https://dspace-test.anu.edu.au/handle/1885/733751655

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DevOps Pure Testing

Source

IEEE Transactions on Automatic Control

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Article

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DOI

10.1109/TAC.2018.2836022

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