Bearing-based Formation Control via Distributed Position Estimation

We propose two distributed position estimation laws and a position-based formation control scheme for autonomous systems, whose interaction graphs are infinitesimally bearing rigid (IBR), based on inter-agent bearings. Under both position estimation laws, the actual positions of agents can be uniquely determined up to a certain translation. Further, the actual formation globally exponentially converges to the desired formation, up to a certain translation. Finally, all agents achieve the desired formation with less control effort, and the proposed formation control strategies are applicable to arbitrary dimensional spaces.