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Unlike the case with identical neighboring agents whose actions are mirrored,the problem of distributed formation control design with heterogeneous sensingis not straightforward. In this paper, we consider the problem of distributedformation control where each agent can only control distances or bearings withits neighbors. We firstly develop a rigidity theory with heterogeneous sensingto ensure that the desired shape is well-posed. Secondly, we propose aniterative method that allows us to scale up the number of agents withheterogeneous sensing. Finally, numerical simulations show the effectiveness ofour method.

Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only