Angle-based cooperation control of triangle formation

In this paper, the problem of stabilizing two agents with a beacon into a triangular formation is studied, in which the beacon is static and the specified triangle is characterized only by interior angles constraints. Assuming that each agent can measure the bearing of the beacon in its local frame. Meanwhile, the two agents neighbor each other, that is, they communicate with each other so that they can measure the bearing angle respectively and exchange the measured angle information each other. A control strategy is proposed utilizing only angle information which steers the two agents to form a triangular formation with the beacon. Both theoretical analysis and simulations are provided to demonstrate the effectiveness of the control algorithm.