Bearing-Only Formation Control of Multi-Agent System Without Leader's Velocity Information

This paper studies formation control of multi-agent systems with an underlying network constructed by defined the follower Henneberg construction. We propose a bearing-only formation control law of multi-agent systems, where a leader moves at a constant velocity, and the followers are unaware of the leader's velocity. We prove that the system can asymptotically reach its desired position and form the target formation. The proposed control law scales the formation to avoid obstacles, where the formation robustness is also analysed. Numerical simulations are provided to further support our findings. Copyright (C) 2020 The Authors.