@inproceedings{3cc1b84924654c0cb6745299c2c312d9,
title = "Bearing-based formation stabilization with directed interaction topologies",
abstract = "This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where the interaction topology is directed. It is shown that a linear distributed control law, which was proposed previously for undirected cases, can still be applied to the directed case. The formation stability in the directed case, however, relies on a new notion termed bearing persistence, which describes whether or not the directed underlying graph is persistent with the bearing rigidity of a formation. If a target formation is not bearing persistent, undesired equilibriums will appear and global formation stability cannot be guaranteed. The notion of bearing persistence is defined by the bearing Laplacian matrix and illustrated by simulation examples.",
keywords = "Jacobian matrices, Laplace equations, Null space, Position measurement, Stability analysis, Symmetric matrices, Topology",
author = "Shiyu Zhao and Daniel Zelazo",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7403181",
language = "الإنجليزيّة",
series = "Proceedings of the IEEE Conference on Decision and Control",
pages = "6115--6120",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
}