Bearing-Based Formation Control of a Group of Agents with Leader-First Follower Structure

Minh Hoang Trinh; Shiyu Zhao; Zhiyong Sun; Daniel Zelazo; Brian D.O. Anderson; Hyo Sung Ahn

doi:10.1109/TAC.2018.2836022

Bearing-Based Formation Control of a Group of Agents with Leader-First Follower Structure

Minh Hoang Trinh, Shiyu Zhao, Zhiyong Sun^*, Daniel Zelazo, Brian D.O. Anderson, Hyo Sung Ahn

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

126 Citations (Scopus)

Abstract

This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.

Original language	English
Article number	8358756
Pages (from-to)	598-613
Number of pages	16
Journal	IEEE Transactions on Automatic Control
Volume	64
Issue number	2
DOIs	https://doi.org/10.1109/TAC.2018.2836022
Publication status	Published - Feb 2019

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title = "Bearing-Based Formation Control of a Group of Agents with Leader-First Follower Structure",

abstract = "This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.",

keywords = "Bearing-only measurements, Henneberg construction, distributed control, leader-first follower, multi-agent systems",

author = "Trinh, {Minh Hoang} and Shiyu Zhao and Zhiyong Sun and Daniel Zelazo and Anderson, {Brian D.O.} and Ahn, {Hyo Sung}",

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AU - Zhao, Shiyu

AU - Sun, Zhiyong

AU - Zelazo, Daniel

AU - Anderson, Brian D.O.

AU - Ahn, Hyo Sung

PY - 2019/2

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AB - This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.

KW - Bearing-only measurements

KW - Henneberg construction

KW - distributed control

KW - leader-first follower

KW - multi-agent systems

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JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

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M1 - 8358756

ER -

Bearing-Based Formation Control of a Group of Agents with Leader-First Follower Structure

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