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Bearing-Only Triangular Formation Control on the Plane and the Sphere

Bishop, Adrian; Basiri, Meysam


We consider the problem of distributed bearing-only formation control. Each agent measures the inter-agent bearings in a local coordinate system and is tasked at maintaining a specified angular separation relative to its neighbors. The problem we consider differs from other problems in the literature since no inter-agent distance measurements are employed. Each agent's control law is distributed and based only on its locally measured bearings. A strong convergence result is established which...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
Source: Proceedings of the Mediterranean Conference on Control and Automation 2010
DOI: 10.1109/MED.2010.5547774


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