Formations on directed cycles with bearing‐only measurements |
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| Authors: | Minh Hoang Trinh Dwaipayan Mukherjee Daniel Zelazo Hyo‐Sung Ahn |
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| Affiliation: | 1. School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea;2. Faculty of Aerospace Engineering, Technion‐Israel Institute of Technology, Haifa, Israel |
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| Abstract: | This paper studies a bearing‐only–based formation control problem for a group of single‐integrator agents with directed cycle sensing topology. In a 2‐dimensional space, a necessary and sufficient condition for the set of desired bearing vectors to be feasible is derived. Then, we propose a bearing‐only control law for every agent and prove that the formation asymptotically converges to a formation specified by a set of feasible desired bearing vectors. Analysis of the equilibrium formations in the plane for a 3‐agent system and subsequent extension to an n‐agent system is provided. We further extend the analysis on directed triangular formation into a 3‐dimensional space. Finally, simulations validate the theoretical results. |
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| Keywords: | bearing‐only measurements cycle digraph formation control |
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