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Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance

Wu, Kefan; Hu, Junyan; Lennox, Barry; Arvin, Farshad


Kefan Wu

Junyan Hu

Barry Lennox


This brief proposes a bearing-only collision-free formation coordination strategy for networked heterogeneous robots, where each robot only measures the relative bearings of its neighbors to achieve cooperation. Different from many existing studies that can only guarantee global asymptotic stability (i.e., the formation can only be formed over an infinite settling period), a gradient-descent control protocol is designed to make the robots achieve a target formation within a given finite time. The stability of the multi-robot system is guaranteed via Lyapunov theory, and the convergence time can be defined by users. Moreover, we also present sufficient conditions for collision avoidance. Finally, a simulation case study is provided to verify the effectiveness of the proposed approach.

Journal Article Type Article
Acceptance Date Mar 14, 2021
Online Publication Date Mar 17, 2021
Publication Date 2021-10
Deposit Date May 27, 2022
Journal IEEE Transactions on Circuits and Systems II: Express Briefs
Print ISSN 1549-7747
Electronic ISSN 1558-3791
Publisher Institute of Electrical and Electronics Engineers
Volume 68
Issue 10
Pages 3316-3320
Public URL