In this article, we study bearing‐only control of directed cyclic formations. First, we provide a necessary and sufficient condition on the bearing constraints so that the directed cycle formation of n‐agents in (n−1)‐dimensional space is infinitesimally bearing rigid. Second, a bearing‐only control law which only allows motions perpendicular to the desired bearing vector is proposed. Under this control law, the agents globally asymptotically converge to a desired formation which is fully determined from their initial positions and desired bearing vectors. Finally, the proposed formation control law is implemented on mobile robots to support the analysis.

中文翻译：

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定向循环形式的纯方位控制：几乎全局收敛和硬件实现

在本文中，我们将研究定向循环结构的纯方位控制。首先，我们提供了一个关于轴承约束的必要和充分条件，以使（n -1）维空间中n剂的定向循环形成无限地具有刚性。其次，提出了仅轴承控制法则，该法则仅允许垂直于所需轴承矢量的运动。在此控制律下，这些代理全局渐近地收敛到所需的形式，该所需的形式完全由其初始位置和所需的方位向量确定。最后，所提出的编队控制法则在移动机器人上得以实现以支持分析。