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

• Main Authors: Chen, Liangming, Sun, Zhiyong
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering; Elevation Angle Rigidity; Multi-Agent Systems
• Online Access: https://hdl.handle.net/10356/161753
• Institution: Nanyang Technological University

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...