Hong Liang Cheah | Searcharxiv

arXiv2026

Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent

This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integrator agents, our approach accounts for the nonholonomic constraints of wheeled robots. We first develop a bearing-only control law for the case with stationary beacons. Next, we consider saturated control inputs and propose a corresponding bearing-only control law. Finally, we address moving beacons with constant velocities and develop a control law that enables the unicycle agent to track the moving Fermat-Weber point. Both simulations and experiments are provided to demonstrate the effectiveness of the proposed methods.

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arXiv2024

FTISS Adaptive Bearing-Only Formation Tracking Control with Unknown Disturbance Rejection

This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the availability of a global coordinate frame and some information about the disturbances, our approach requires only local bearing vector measurements and does not necessitate the alignment of agent coordinate frames. The proposed control law guarantees that formation control errors converge to a neighborhood of zero in finite time, and subsequently converge to zero asymptotically. We first address the scenario where leaders are stationary and then extend the results to leaders moving with a constant velocity. Simulation and experimental results are presented to validate the effectiveness of the proposed control law.

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