  This paper studies the problem of decentralized continuum deformation
coordination of multi-agent systems aided by cooperative localization. We treat
agents as particles inside a triangular continuum (deformable body) in a2-D
motion space and let the continuum deformation coordination be defined by three
leaders located at vertices of a triangle, called the leading triangle. The
leaders desired trajectories are assigned as the solution of a constrained
optimal control problem such that safety requirements are satisfied in the
presence of disturbance and measurement noise. Followers distributed inside the
leading tri-angle acquire continuum deformation in a decentralized fashion by
integrating cooperative localization and local communication. Specifically,
cooperative localization estimates the global positions of all agents using
relative position measurements based primarily on proximity of agents.
Simulation results are presented for a network of ten agents.
