Formation tracking of multi-agent systems with bearing-only measurement

In this paper, a bearing-only formation tracking problem for leader-follower multi-agent systems is investigated, where followers track the leader according to the bearing-only measurement while forming a formation with respect to the leader. A formation tracking strategy is proposed based on a consensus-based formation protocol and a consensus-based distributed extended information filter (CDEIF). Sufficient conditions for multi-agent systems with bearing-only measurement to achieve formation tracking are presented. Numerical examples are given to demonstrate the effectiveness of the proposed strategy, which include comparative examples to show the effectiveness of CDEIF, extended information filter (EIF) and distributed extended information filter (DEIF).