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This letter presents two bearing-constrained formation tracking controlprotocols for multiple nonholonomic agents based respectively on the bearingvectors and displacements between the agents. The desired formation pattern ofthe system is specified by the desired inter-agent bearing vectors. In theproposed control schemes, there are two or more leaders moving with the sameconstant velocity; the other follower agents do not have the information of theleaders' velocity nor communicate variables with their neighbors. Under boththe proposed control laws, the system achieves the moving target formationasymptotically. Simulation results are provided to support the theoreticaldevelopment.

Bearing-constrained Formation Tracking Control of Nonholonomic Agents without Inter-agent Communication