Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs: Extended abstract

This extended abstract proposes a passivity-based approach using bearing and velocity information for an angle-based formation control with a class of underlying triangulated Laman graphs. The controller is designed using virtual couplings on the relative measurements related to the edges. The different embedding of the graph is mapped by the measurement Jacobian, which is calculated by the time-evolution of the measurement. Furthermore, to avoid unavailable distance measurements in the control law, an estimator is designed based on the port-Hamiltonian theory using bearing and velocity measurements. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.