Bearing-Only Formation Control for Double Integrators and Non-Holonomic Agents with Elevation-Angle Rigidity

In this paper we study formation control using elevation angle rigidity for non-holonomic agents and double integrators. Elevation angle rigidity has recently been proposed to solve the bearing only formation control problem without accessing global orientation information of the agents. However, only agents modelled as single integrators were considered. Non-holonomic agents, being under actuated in nature, describe practical systems such as wheeled robots. Motivated by this, we consider non-holonomic and double integrator dynamics of the agents in this paper. First, we propose the control laws which achieve formation stabilization only using bearing measurements for non-holonomic agents and double integrators. Then local asymptotic stability is proved for non-holonomic agents, and local exponential stability is obtained for double integrator agents. Finally, simulations are presented to validate the results.