Angle-constrained formation control has attracted much attention due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, all the existing angle-constrained formation control methods are limited to undirected triangulated sensing graphs. In this paper, we propose an angle-constrained formation control approach under a Leader–First Follower sensing architecture, where the sensing graph is and . During the formation process, the control input of each agent is communication-free and based on relative positions from neighbors measured in the local reference frame. We show that the proposed distributed formation controller ensures of the desired formation. Furthermore, it is interesting to observe that the convergence rate of the whole formation is only determined by specific angles within the target formation. The effectiveness of the proposed control algorithm is illustrated by carrying out experiments both in simulation environments and on real robotic platforms.

中文翻译：

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有向非三角传感图下的角度约束编队控制

角度约束编队控制由于具有在整个编队均匀平移、旋转和缩放下边缘间角度不变的优点而备受关注。然而，所有现有的角度约束编队控制方法都仅限于无向三角传感图。在本文中，我们提出了一种 Leader-First Follower 传感架构下的角度约束编队控制方法，其中传感图为 和 。在形成过程中，每个代理的控制输入是无通信的，并且基于在本地参考系中测量的邻居的相对位置。我们证明了所提出的分布式编队控制器确保了所需的编队。此外，有趣的是，整个编队的收敛速度仅由目标编队内的特定角度决定。通过在仿真环境和真实机器人平台上进行实验，说明了所提出的控制算法的有效性。