Bearing-only Formation Control of First-Order Discrete-Time Multi-Agent Systems

In this paper, we address the formation control problem of first-order discrete-time multi-agent systems, where the control law for each agent only depends on the relative bearings to its neighboring agents. Different from the continuous-time multi-agent systems, the sampling time step in the discrete-time counterpart is required to be upper bounded by some properly designed constant, such that the bearing-only formation can be achieved. Finally, the simulations are provided to verify the correctness of theoretical results.