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This paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure