A framework with signed angle constraints is infinitesimally angle rigid exactly when its rigidity matrix has rank 2N-4, and this condition is used to build an angle-only formation stabilization law.
Sensor and network topologies of formations with direction, bearing, and angle information between agents,
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Angle rigidity and its usage to stabilize planar formations
A framework with signed angle constraints is infinitesimally angle rigid exactly when its rigidity matrix has rank 2N-4, and this condition is used to build an angle-only formation stabilization law.