Formation coordination for self-mobile localization: Framework

In this paper we introduce a framework for self-mobile localization of a group of mobile agents via a novel formation coordination. The key idea of formation coordination is to make an agent move while fixing other agents as reference nodes. Since the mobile agent is connected to the fixed agents, it is localized during the movement. After the movement, the mobile agent is then fixed, and it is used as one of the reference nodes, while other agent is selected and switched to the next mobile agent. By repeating this process, all of the agents sequentially move being localized by aid from other agents. Simple simulation tests are conducted to illustrate the main idea of the formation coordination established in this paper.