A Very Relaxed Control Law for Bearing-Only Triangular Formation Control

  title={A Very Relaxed Control Law for Bearing-Only Triangular Formation Control},
  author={Adrian N. Bishop},
The problem of bearing-only triangular formation control is considered. Each agent measures two inter-agent bearings in a local coordinate system and is tasked with establishing, and maintaining, a desired angular separation relative to its neighbours (and consequently an overall desired shape). A distributed control law is designed for each agent that is based only on the agent’s locally measured bearings. A strong convergence result is established which guarantees global exponential… CONTINUE READING
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