Bearing-Only Translational and Scaling Formation Control With Local Reference Frames

In this paper, we investigate the bearing-only for-mation control problem of leader-follower multi-agent system with local reference frames. Our objectives include achieving orientation synchronization and implementing translation and scaling maneuvers while maintaining formations. We propose a distributed formation control protocol that solely utilizes the relative bearing information in local reference frames. A numerical example illustrates the effectiveness of the proposed protocol.