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The problem of distributed control and estimation for multi-agent systemswith limited sensing capabilities is a practical challenge motivated byincomplete and imperfect sensing. This article addresses an important casewhere each agent in a network can only sense the relative bearings to theirnearest neighbors. The study of this topic is motivated mainly by the rapiddevelopment of bearing-only sensors such as optical cameras or sensor arrays.This article provides a tutorial review on this topic focusing on the problemsof formation control and network localization. A key component of this reviewis a presentation of the recently developed bearing rigidity theory, whichdefines a necessary architectural feature of multi-agent systems aiming tosolve these two problems. This article presents a high-level summary ofrecently developed algorithms solving these problems, various simulationexamples, and discussions pointing to the relevant literature and importantremaining challenges in this area.

Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life Beyond Distance Rigidity