Joint Design of Estimation and Control for Multi-Agent Systems with Bearing Measurements

This paper investigates position estimation and formation control problem in second-order leader-follower multi-agent systems utilizing bearing measurements. The main contribution of this work is the development of a method that does not require constant assurance of localization conditions for followers in second-order multi-agent systems. Specifically, the paper introduces a finite-time controller for leader agents to achieve the expected behavior of dynamic formation. For follower agents, the paper presents two motion modes, namely maintaining mode and maneuvering mode, which eliminate the need for localization conditions at all times during position estimation and controller design. Furthermore, simulation results validate the effectiveness of the proposed framework.