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Distributed control of triangular formations with angle-only constraints

Basiri, Meysam; Bishop, Adrian; Jensfelt, Patric


This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
Source: Systems and Control Letters
DOI: 10.1016/j.sysconle.2009.12.010


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