Planar Bearing-Only Formation Control of Heterogeneous Multi-agent Systems

This paper studies the problem of bearing-only formation control of heterogeneous multi-agent systems com-prised of agents modeled as single and double integrators, and unicycles. Stability of such a system is proved, using Lyapunov theory, for distributed control laws that use relative bearing as the sensed variable. Two approaches are proposed for formation control. The first approach provides a sufficient condition on the heading of unicycles during the evolution of the formation, while the second approach provides sufficient conditions based on the set of neighbors for different types of agents. Simulations are presented to vindicate the theoretical results.