Distributed Formation Control based on Orientation Alignment and Position Estimation

Abstract

Formation control is studied for single-and double-integrators on the plane based on orientation alignment and position estimation. It is assumed that agents measure the relative positions of their neighbors with respect to their own local body-fixed reference frames without any common sense of orientation. The proposed control strategy consists of an orientation alignment, a position estimation, and a position control law. It is shown that the proposed control strategy allows the agents to achieve the desired formation if the interaction graph is uniformly connected and the orientation angles belong to an interval with arc length less than pi.