Formation control of mobile agent groups based on localization

In this paper, we study localization based formation control of mobile agent groups by using relative and partial measurements. Though formation control and localization are linked to each other, they have separately been addressed in the literature. As a novel approach, we propose a formation control strategy based on localization information for single- and double-integrator modeled agent groups. Subsequently, we show that the formation of a single-integrator modeled agent group globally exponentially converges to the desired formation with the estimated formation globally exponentially converging to the actual formation up to translation if and only if the interaction graph of the group contains a spanning tree. Furthermore, we provide a necessary and sufficient condition for the global exponential convergence of the formation of a double-integrator modeled agent group to the desired formation. Simulation results validate the effectiveness of the proposed strategy.