Bearing-based localization for leader-follower formation control

The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control.