Bearing-Only Formation Control with Limited Visual Sensing: Two Agent Case^⁎

This work solves the bearing-only formation control problem for two agents with limited field-of-view sensing. We propose a bearing-only control strategy for both the position and heading of each agent that guarantees the desired formation is obtained from almost all initial conditions, and ensures that the agents always remain inside the field-of-view of the sensor. We support our analysis with simulations and explore an extension for the 3- and 4-agent case.