Abstract
This chapter studies bearing-based formation control while globally aligning the orientations of agents’ local coordinate frames. Two topics are addressed. The first topic is to transform the formation systems with misaligned orientations to a formation system with aligned orientations. For this, while aligning the orientations of agents, we apply the typical bearing-based formation control laws to the distributed agents. The second topic is to control the positions of agents. But, since the positions of agents are not measured in local coordinate frames, they need to be estimated with the measurements of bearing vectors. The second topic is the counterpart of Chap. 8 in bearing setups.
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