Bearing-Based Formation Stabilization with Directed Interaction Topologies
For researchers in multi-agent formation control, this work provides a necessary condition (bearing persistence) for stability under directed graphs, but it is an incremental extension of existing undirected methods.
This paper extends bearing-based formation stabilization to directed interaction topologies, showing that a linear control law from undirected cases works if the graph is 'bearing persistent'; otherwise, undesired equilibria appear.
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where the interaction topology is directed. It is shown that a linear distributed control law, which was proposed previously for undirected cases, can still be applied to the directed case. The formation stability in the directed case, however, relies on a new notion termed bearing persistence, which describes whether or not the directed underlying graph is persistent with the bearing rigidity of a formation. If a target formation is not bearing persistent, undesired equilibriums will appear and global formation stability cannot be guaranteed. The notion of bearing persistence is defined by the bearing Laplacian matrix and illustrated by simulation examples.