This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based control law to attain the assigned individual task(s). In the current work, robots are assigned either distance and signed area task(s) or bearing task(s). We provide a sufficient condition on the gain ratio $R_{\text{Ad}}$ between the signed area and the distance control term such that the desired formation shape, an isosceles triangle, is reached from all feasible starting positions. Numerical simulations are provided to support the theoretical analyses.

翻译：本文的重点是为使用多种感测机制的三个移动机器人团队确保三角形状(直至翻译)。根据当地现有信息,每个机器人都使用流行的梯度控制法完成指定的各项任务。在目前的工作中,机器人被分配到距离和签名区域任务或承担任务。我们为签名区域与远程控制术语之间的增益比率提供了充分的条件,以便从所有可行的起始位置达到理想的形成形状,即等星三角形。提供了数字模拟来支持理论分析。