Bearing-only formation control using an SE(2) rigidity theory

Abstract

This paper considers a formation control problem for a team of agents that are only able to sense the relative bearings from their local body frame to neighboring agents. It is further assumed that the sensing graph is inherently directed and a common reference frame is not known to all of the agents. Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix. We show that a necessary condition for the local stabilization of desired formation is for the corresponding SE(2) framework to be minimally infinitesimally rigid.