Formation shape control based on bearing rigidity

  title={Formation shape control based on bearing rigidity},
  author={Tolga Eren},
  journal={International Journal of Control},
  pages={1361 - 1379}
  • T. Eren
  • Published 6 July 2012
  • Engineering
  • International Journal of Control
Distance measurements are not the only geometric quantities that can be used for multi-agent formation shape control. Bearing measurements can be used in conjunction with distances. This article employs bearing rigidity for mobile formations, which was developed for robot and sensor network localisation, so that bearings can be used for shape control in mobile formations. The first part of this article examines graph theoretical models for formation network analysis and control law design that… 
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