This chapter presents bearing-based formation control, a widely studied topic in control of multiagent systems. Specifically, one focuses on a modification of the matrix-weighted consensus algorithm which uses only directional information instead of the relative positions between neighboring agents. First, a new bearing-only control law, which can be used to guide an agent to navigate based on several stationary beacons, is introduced. Second, the bearing-only control law is applied to stabilizing a leader–first follower formation, which can be generated by a directed bearing-based Henneberg construction. The stability of the desired formation is established using mathematical induction and a condition for guaranteeing collision avoidance is also provided.