Image-Based Visual Relative Information for Distributed Rigid Formation Control in 3D Space

Image-based visual relative information (IBVR) for distributed rigid formation control of agents moving in 3D space is proposed for single-integrator agents. The IBVR approach is based solely on the local information of the neighbors’ visible area, of neighbors’ local coordinates in the image plane, and of the camera parameters in order to achieve and maintain rigid formation distributedly. Each agent is represented as a spherical agent and modeled as a single integrator. We introduce a rigid formation framework based on the image-based visual information and subsequently use it to design the gradient-based distributed formation control in 3D space.