Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control

This article studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles, ratio-of-distances, or their combination to achieve distributed network localization and formation maneuver control in
$\mathbb {R}^{d} (d \geq 2)$
. By exploring the localizability and invariance of the target formation, the scale, rotation, and translation of the formation can be controlled simultaneously by only tuning the leaders' positions, i.e., the followers do not need to know parameters of the scale, rotation, and translation of the target formation. The proposed method can globally drive the formation errors to zero in finite time over multilayer
$d\!+\!1$
-rooted graphs. A simulation example is given to illustrate the theoretical results.