Bearing-Based Distributed Control and Estimation of Multi-Agent Systems

This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position measurements and (ii) the distributed localization of sensor networks using bearing measurements. Both of the two problems are considered in arbitrary dimensional spaces. The analyses of the two problems rely on the recently developed bearing rigidity theory. We show that the two problems have the same mathematical formulation and can be solved by identical protocols. The proposed controller and estimator can globally solve the two problems without ambiguity. The results are supported with illustrative simulations.