Distributed Event-Triggered Approach for Multi-Agent Formation Based on Cooperative Localization with Mixed Measurements

This paper concentrates on multi-agent formation control problems under mixed measurements of distance and bearing. Towards this objective, a distributed event-triggered estimation-based framework is developed such that only at necessary time instants, the event for estimation (namely, cooperative localization among subgroup agents) triggered to recover relative position information by utilizing bearing from different agents. Firstly, it shown using stiffness theory agents are capable recovering if sufficient number independent range available. Secondly, mechanism presented achieving an affine control, which can be implemented in asynchronous manner also ensures Zeno-free behavior. Simulation studies provided demonstrate effective performance proposed approach.