Bearing-Based Formation Control Using Reset Protocol

This paper develops a reset control strategy for bearing-based formation of first-order multi-agent systems, combining the agents' bearing measurements with relative position information. This is particularly advantageous in scenarios with limited sensory data. The approach introduced in this work integrates a reset mechanism into the bearing-based formation dynamics, enhancing the precision of inter-agent bearings and speeding up the formation process, thus providing a more accurate control mechanism in comparison to the traditional bearing-based formation protocol. The effectiveness of this method is validated through simulations.