Bearing-Only Control of Leader First Follower Formations*

This paper proposes a bearing-only based control law to stabilize leader-first follower formations consisting of single-integrator modeled agents. For leader-first follower formations, under the proposed control law, the N-agents formation is proved to be almost globally asymptotically stable and locally exponentially stable in Rd. Collision avoidance between the agents in the formation is also analyzed.