Tron, RobertoThomas, JustinLoianno, GiuseppeDaniilidis, KostasKumar, Vijay2017-04-112017-04-112016-12-12Tron, R., Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016, December). Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. In Decision and Control (CDC), 2016 IEEE 55th Conference on (pp. 1806-1813).https://hdl.handle.net/2144/21102We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.en-USDistance measurementCollision avoidanceConvergencePosition measurementTopologySensorsStability analysisLyapunov methodsConference materials10.1109/CDC.2016.77985270000-0002-6676-8595 (Tron, R)