Bearing-Only Formation Control with Directed Sensing

This seminar explores the bearing formation control problem which aims to drive a multi-agent system to some desired spatial configuration. Existing solutions to the bearing-only formation control problem typically rely on bi-directional sensing, which is not realistic in many robotic applications. A recent result by Trinh et al. showed that the bearing-only control strategy also works for directed sensing graphs for special structures called the leader first-follower (LFF) graphs. In this seminar, we expand the class of graphs that can solve the bearing-only formation control problem with directed sensing. Towards this, we will review the fundamentals of bearing- only formation control for undirected sensing and directed sensing over LFF graphs. Then, we show how to augment LFF graphs with additional directed edges while ensuring the bearing- only formation control problem can still be solved. Some illustrating examples are provided to illustrate the results.