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Our approach harnesses the inherent capabilities of each robot, enabling them to localize and synchronize their movements independently. The integration of cooperative localization algorithms with formation control mechanisms empowers a group of robots to sustain a predefined formation while following a linear trajectory. The efficacy of our framework is substantiated through comprehensive simulations and real-world experimental validations. We rigorously assess the system\u2019s resilience to localization inaccuracies and external disturbances, demonstrating its adaptability and consistency in maintaining formation under diverse conditions. Furthermore, we explore the scalability of our approach, highlighting its potential to manage varying numbers of robots and its applicability in tasks such as collaborative transportation.<\/jats:p>","DOI":"10.1017\/s026357472500013x","type":"journal-article","created":{"date-parts":[[2025,2,24]],"date-time":"2025-02-24T06:28:52Z","timestamp":1740378532000},"page":"1199-1221","source":"Crossref","is-referenced-by-count":0,"title":["Efficient relative localization and coordination system for unmanned ground vehicle formations under directed graph structure"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5388-9649","authenticated-orcid":false,"given":"Kader M.","family":"Kabore","sequence":"first","affiliation":[]},{"given":"Samet","family":"G\u00fcler","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2025,2,24]]},"reference":[{"key":"S026357472500013X_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2012.2236996"},{"key":"S026357472500013X_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061071"},{"key":"S026357472500013X_ref7","doi-asserted-by":"publisher","DOI":"10.1002\/9781118887455"},{"key":"S026357472500013X_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/1729881416663664"},{"key":"S026357472500013X_ref10","first-page":"1","article-title":"Peer-to-peer relative localization of aerial robots with ultrawideband sensors","volume":"29","author":"Guler","year":"2020","journal-title":"IEEE Trans. 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