Joint Relative Localization and Formation Control for Multiagent Systems With Nonpersistent Excitation

TY - JOUR

T1 - Joint Relative Localization and Formation Control for Multiagent Systems With Nonpersistent Excitation

AU - Wang, Yue

AU - Yang, Qingkai

AU - Cui, Hao

AU - Huang, Jie

AU - Deng, Lei

AU - Zhang, Fu

AU - Fang, Hao

AU - Chen, Jie

N1 - Publisher Copyright: © 1982-2012 IEEE. All rights reserved.

PY - 2026

Y1 - 2026

N2 - This article investigates the joint relative localization and formation control problem of leader–follower multiagent systems in GPS-denied environments. Existing results normally require persistently excited inter-agent relative motion to achieve accurate relative localization, which causes inevitable formation errors. To address this issue, an adaptive distributed relative localization scheme without persistent excitation (PE) motions is integrated into the leader–follower formation framework, using inter-agent distance and onboard velocity measurements. Specifically, by employing the parameter-estimation-based observer (PEBO) technique and introducing the dynamic extension operation, the time-varying relative position estimation is reformulated as an online constant parameter identification problem. Furthermore, we develop a relative localization-based formation control strategy for stationary target formations and further extend it to scenarios involving dynamic target formations. It is proven that the proposed method guarantees the asymptotic convergence to the desired formations. Finally, both numerical simulations and physical experiments are presented to illustrate the effectiveness of our theoretical results.

AB - This article investigates the joint relative localization and formation control problem of leader–follower multiagent systems in GPS-denied environments. Existing results normally require persistently excited inter-agent relative motion to achieve accurate relative localization, which causes inevitable formation errors. To address this issue, an adaptive distributed relative localization scheme without persistent excitation (PE) motions is integrated into the leader–follower formation framework, using inter-agent distance and onboard velocity measurements. Specifically, by employing the parameter-estimation-based observer (PEBO) technique and introducing the dynamic extension operation, the time-varying relative position estimation is reformulated as an online constant parameter identification problem. Furthermore, we develop a relative localization-based formation control strategy for stationary target formations and further extend it to scenarios involving dynamic target formations. It is proven that the proposed method guarantees the asymptotic convergence to the desired formations. Finally, both numerical simulations and physical experiments are presented to illustrate the effectiveness of our theoretical results.

KW - Formation control

KW - multiagent systems (MASs)

KW - persistent excitation (PE)

KW - relative localization

UR - https://www.scopus.com/pages/publications/105025677417

U2 - 10.1109/TIE.2025.3637329

DO - 10.1109/TIE.2025.3637329

M3 - Article

AN - SCOPUS:105025677417

SN - 0278-0046

VL - 73

SP - 6335

EP - 6345

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

IS - 4

ER -