Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance
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CitationTron, R., Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016, December). Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. In Decision and Control (CDC), 2016 IEEE 55th Conference on (pp. 1806-1813).
We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.