Maintaining an autonomous agent's position in a moving formation with range-only measurements
Ming Cao, A. Stephen Morse · 2007
Using concepts from switched adaptive control theory, a provably correct solution is given to the problem of maintaining the position of a point modelled mobile autonomous agent in a moving formation in the plane using only range measurements to three of its neighbors. The performance of the resulting system degrades gracefully in the face of measurement and miss-alignment errors, provided the measurement errors are not too large.