Equivariance is a common and natural property of many nonlinear control systems,
especially those associated with models of mechatronic and navigation systems. Such …

This paper addresses the problem of leader–follower formation control in three dimensional
space by exploring persistence of excitation (PE) of the desired formation. Using only …

This paper addresses the problem of time-varying bearing formation control in d (d≥ 2)-
dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired …

This letter proposes an observer-based formation tracking control approach for multi-agent
velocity-controlled vehicles under the assumption that either relative or global position …

This paper addresses the problem of bearing-only formation control in d (d≥ 2)-dimensional
space by exploring persistence of excitation (PE) of the desired bearing reference. By …

This paper explores the properties of Bearing Persistently Exciting (BPE) formations defined
in d (d≥ 2)-dimensional space, a class of time-varying bearing formations whose …

This paper addresses the problem of formation control with a leader-follower structure in
three dimensional space by exploring persistence of excitation (PE) of the desired bearing …

In this paper, we consider the problem of distributed pose estimation of multi-vehicle
networks, with a leader-follower structure evolving on SO(3)*R^3, relying on individual linear …

Nonlinear sonar contact tracking always presents a significant observability challenge.
Observability as it relates to sonar tracking is the metric used to determine if a state estimate …

This paper presents a robust moving horizon estimation (MHE) approach with provable
estimation error bounds for solving the simultaneous localization and mapping (SLAM) …