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Angle-constrained formation control has attracted much attention from controlcommunity due to the advantage that inter-edge angles are invariant underuniform translations, rotations, and scalings of the whole formation. However,almost all the existing angle-constrained formation control methods are limitedto undirected triangulated sensing graphs. In this paper, we propose anangle-constrained formation control approach under a Leader-First Followersensing architecture, where the sensing graph is directed and non-triangulated.Both shape stabilization and maneuver control are achieved under arbitraryinitial configurations of the formation. During the formation process, thecontrol input of each agent is based on relative positions from its neighborsmeasured in the local reference frame and wireless communications among agentsare not required. We show that the proposed distributed formation controllerensures global exponential stability of the desired formation for an nagentsystem. Furthermore, it is interesting to see that the convergence rate of thewhole formation is solely determined by partial specific angles within thetarget formation. The effectiveness of the proposed control algorithms isillustrated by carrying out experiments both in simulation environments and onreal robotic platforms.

Angle-Constrained Formation Control under Directed Non-Triangulated Sensing Graphs (Extended Version)