The paper proves that a framework in SE(d) is infinitesimally bearing rigid iff it is infinitesimally angle rigid with each robot obtaining at least d-1 bearings, and develops a locally exponentially stable distributed localization and rigidity-maintenance controller under switching topologies.
Princeton University Press
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Angle-based Localization and Rigidity Maintenance Control for Multi-Robot Networks
The paper proves that a framework in SE(d) is infinitesimally bearing rigid iff it is infinitesimally angle rigid with each robot obtaining at least d-1 bearings, and develops a locally exponentially stable distributed localization and rigidity-maintenance controller under switching topologies.