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Different from most existing distributed localization approaches in staticnetworks where the agents in a network are static, this paper addresses thedistributed localization problem in dynamic networks where the positions of theagents are time-varying. Firstly, complex constraints for the positions of theagents are constructed based on local relative position (distance and localbearing) measurements. Secondly, both algebraic condition and graph conditionof network localizability in dynamic networks are given. Thirdly, a distributedlocalization protocol is proposed such that all the agents can cooperativelyfind their positions by solving the complex constraints in dynamic networks.Fourthly, the proposed method is extended to address the problem of integrateddistributed localization and formation control. It is worth mentioning that theproposed algorithm can also be applied in the case that only distance and signof direction measurements are available, where the sign of directionmeasurement is a kind of one bit local relative measurement and has lessinformation than local bearing.

Distributed Localization in Dynamic Networks via Complex Laplacian