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

中文翻译：

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基于混合测量协同定位的多智能体编队分布式事件触发方法

本文主要研究距离和方位混合测量下的多智能体编队控制问题。为此，开发了一种基于分布式事件触发估计的控制框架，以便仅在必要的时刻触发用于估计的事件（即代理子组之间的协作定位），以通过利用混合算法恢复相对位置信息。来自不同代理的距离和方位测量值。首先，通过使用刚度理论表明，如果有足够数量的独立距离和距离测量值可用，一组代理能够恢复相对位置信息。其次，提出了一种分布式事件触发机制来实现仿射编队控制，这可以以异步方式实现，并确保无 Zeno 行为。提供了模拟研究来证明所提出方法的有效性能。