The use of dwell-time switching to maintain a formation with only range sensing

Using concepts from switched adaptive control theory plus a special parameterization of the class of 2 x 2 nonsingular matrices, a tractable and provably correct solution is given to the three landmark station keeping problem in the plane in which range measurements are the only sensed signals upon which station keeping is to be based. The performance of the overall system degrades gracefully in the face of increasing measurement and missalignment errors, provided the measurement errors are not too large.