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Fermat-Weber location based multi-agent formation generation using bearings-only information

The paper discusses the problem of stabilizing a group of n arbitrarily placed agents on to the vertexes of a regular polygon. Using a control law based only on the bearing information, each of the agents pursues the Fermat Weber location with respect to the rest of agents. Analytic guarantees for stability of the proposed control law is deduced. Simulation results validate the efficacy of the proposed methodology. As a first, the work presents a purely bearings-only information based multi-agent control methodology for generating regular polygon formations.