Abstract
This paper addresses a formation control problem of multi-agent systems over generalized relative measurement. First, a general form of a class of obtainable measurement data is given, with which we can describe any combinations of relative/absolute bearing, with/without distance and reflection errors in the measurement of each agent. Next, we derive a strict class of formation task achievable over the generalized class of measurement data. Then, for a given network graph, an optimal gradient-based distributed and relative controller is designed. Finally, the effectiveness of the designed controller is illustrated through simulation results.
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