LAUSR

This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system is specified by the desired inter-agent bearing vectors. In the proposed control schemes, there are two or more leaders moving with the same constant velocity; the other follower agents do not have the information of the leaders’ velocity nor communicate variables with their neighbors. Under both the proposed control laws, the system achieves the moving target formation asymptotically. Simulation results are provided to support the theoretical development.