Topic : Bearing-only formation control over directed cycles
By: Dwaipayan Mukherjee
Event/Venue: VJTI, Mumbai
Details: This talk discusses a bearing-only formation control problem for a group of single integrator agents over a directed cycle sensing topology. In two-dimensional space, a necessary and sufficient condition for the feasibility of a set of desired bearing vectors will be presented. Then we shall look at a proposed bearing-only control law for every agent and prove that the formation asymptotically converges to a desired one, specified by a set of feasible desired bearing vectors. Subsequently, analyses of the equilibrium formations in a plane, for a three-agent system as well as an n (>3)-agent system, will follow. Finally, the theoretical analysis on a directed triangle in a plane will be extended to the three-dimensional space and the talk will conclude with some simulations that validate the theoretical results.