Bearing-Only Formation Control Using an SE(2) Rigidity Theory - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2015

Bearing-Only Formation Control Using an SE(2) Rigidity Theory


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.
Fichier principal
Vignette du fichier
2015_cdc_zelazo.pdf (892.9 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01187978 , version 1 (28-08-2015)


  • HAL Id : hal-01187978 , version 1


Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi. Bearing-Only Formation Control Using an SE(2) Rigidity Theory. IEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan. ⟨hal-01187978⟩
410 View
690 Download


Gmail Facebook X LinkedIn More