Gradient-based bearing-only formation control: an elevation angle approach

• Main Authors: Chen, Liangming, Sun, Zhiyong
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Article
• 語言: English
• 出版: 2022
• 主題: Engineering::Mechanical engineering; Elevation Angle Rigidity; Multi-Agent Systems
• 在線閱讀: https://hdl.handle.net/10356/161753

This paper proposes an elevation angle rigidity theory in both 2D and 3D spaces, and applies it to solve multi-agent formation control with only inter-agent bearing/direction measurements in agents’ local coordinate frames. Motivated by the sensor technology in measuring elevation angle and angular...