Distance-only Measurements Based Distributed Shape Formation for Multi-Agent System

In the multi-agent system, the uniqueness of the formation shape is a difficult point in research. This paper proposes a distributed algorithm of the multi-agent system to shape predefined formation without using global information. In the proposed algorithm, each node holds a local coordinate system without a common orientation, and has only distance measurement information between its neighbors. Because no global coordinate system is needed, the restriction on the configuration of the agent is reduced. By using the barycentric coordinates of each node with respect to its neighbors, the proposed algorithm can achieve the desired shape. Simulation results have also been provided to verify the effectiveness of the algorithm.