Eren, TolgaWhiteley, WalterAnderson, BrianMorse, A StephenBelhumeur, Peter N2015-12-132015-12-13June 30 200780383354http://hdl.handle.net/1885/80887Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous formations. We draw out and summarize some relevant results from the related mathematical theory of global rigidity; and present some new results on globally rigid formations.Keywords: Global rigidity; Information structures; Rigid formations; Electric network topology; Global optimization; Intelligent agents; Matrix algebra; Mobile telecommunication systems; Problem solving; Information analysis200410.1109/ACC.2004.2490972015-12-11