Bearing formation control under switching graph topologies

This paper addresses problems of bearing formation control for n-agent systems defined in d(d >= 2)-dimensional space under switching sensing graph topologies. We extend concepts of Bearing Persistently Exciting (BPE) formation, Relaxed Bearing Rigid (RBR) formation, and Infinitesimal Bearing Rigid (IBR) formation by including dynamically changing graph topologies. Using bearing measurements, controllers are proposed for multi-agent systems under single-integrator dynamics. By assuming the desired formation is BPE, the proposed bearing-only controller ensures uniformly exponential convergence of the formation in terms of shape and scale under switching topologies. The special case of the desired formation involving constant bearings is also considered. Simulation results are provided to illustrate the performance of the proposed control laws.