Balanced circular formation control based on gossip communication and angle of arrival information

The paper studies the problem of stabilizing a group of anonymous agents into a balanced circular formation, for which the agents are evenly spaced on a circular trajectory and the geometric center of the agents is fixed. A novel control algorithm is proposed utilizing only angle of arrival information (bearing). We consider the scenario of gossip communications: at every piece of time interval a randomly chosen pair of agents communicates so that both can measure the angle of arrival (AoA) and exchange the AoA information each other. The effectiveness of the control algorithm is demonstrated via simulation results.