Bearing-only formation control using an SE(2) rigidity theory

Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

49 Citations (Scopus)


This paper considers a formation control problem for a team of agents that are only able to sense the relative bearings from their local body frame to neighboring agents. It is further assumed that the sensing graph is inherently directed and a common reference frame is not known to all of the agents. Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix. We show that a necessary condition for the local stabilization of desired formation is for the corresponding SE(2) framework to be minimally infinitesimally rigid.

Original languageEnglish
Title of host publication54th IEEE Conference on Decision and Control, CDC 2015
Place of PublicationPiscataway, NJ
Number of pages6
ISBN (Electronic)978-1-4799-7886-1
ISBN (Print)978-1-4799-7884-7 , 978-1-4799-7885-4
Publication statusPublished - 8 Feb 2015
Externally publishedYes
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: 15 Dec 201518 Dec 2015
Conference number: 54

Publication series

NameProceedings of the IEEE Conference on Decision and Control (CDC)
ISSN (Print)0743-1546


Conference54th IEEE Conference on Decision and Control, CDC 2015
Abbreviated titleCDC


  • Conferences
  • Coordinate measuring machines
  • Estimation
  • Jacobian matrices
  • Sensors
  • Shape
  • Stability analysis


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