{"ID":2882870,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.09908","arxiv_id":"2508.09908","title":"Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems","abstract":"In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example.","short_abstract":"In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utiliz...","url_abs":"https://arxiv.org/abs/2508.09908","url_pdf":"https://arxiv.org/pdf/2508.09908v1","authors":"[\"Haoshu Cheng\",\"Martin Guay\",\"Shimin Wang\",\"Yunhong Che\"]","published":"2025-08-13T16:05:16Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\",\"math-ph\",\"math.OC\",\"nlin.PS\"]","methods":"[]","has_code":false}