@inproceedings{45218bb8538040319c64ff65487ac6dc,
title = "Bearing-Based Formation Control and Network Localization via Global Orientation Estimation",
abstract = "Consider a system of single-integrator agents in the d-dimensional space whose goal is to achieve a target formation shape specified by some desired bearing vectors. Suppose that the agents do not share a common global reference frame but can sense the relative orientations and bearing information with regard to some neighbor agents. We propose solutions to two problems: global orientation estimation and bearing-only measurement based formation control. Combining the solutions to the two problems, we solve the distributed bearing-based formation control problem. The combined strategy guarantees the desired formation shape is almost globally achieved up to a translation, a rotation and a scaling. Furthermore, we apply the proposed strategy to bearing-based network localization as a dual problem.",
author = "Trinh, {Minh Hoang} and Lee, {Byung Hun} and Mengbin Ye and Ahn, {Hyo Sung}",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2nd IEEE Conference on Control Technology and Applications, CCTA 2018 ; Conference date: 21-08-2018 Through 24-08-2018",
year = "2018",
month = oct,
day = "26",
doi = "10.1109/CCTA.2018.8511469",
language = "English",
series = "2018 IEEE Conference on Control Technology and Applications, CCTA 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1084--1089",
booktitle = "2018 IEEE Conference on Control Technology and Applications, CCTA 2018",
address = "United States",
}