Abstract
This paper proposes a strategy to achieve translational velocity consensus in a multi-agent formation using distance-only measurements. Since with agents executing arbitrary motions, distance-only measurement cannot provide enough information for velocity consensus, we postulate that agents engage in a combination of circular motion and linear motion. When energy saving is the first priority, the linear motion component should dominate. On the other hand, when measurement accuracy is the first priority, the circular motion must be more prominent.
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