  Unlike the case with identical neighboring agents whose actions are mirrored,
the problem of distributed formation control design with heterogeneous sensing
is not straightforward. In this paper, we consider the problem of distributed
formation control where each agent can only control distances or bearings with
its neighbors. We firstly develop a rigidity theory with heterogeneous sensing
to ensure that the desired shape is well-posed. Secondly, we propose an
iterative method that allows us to scale up the number of agents with
heterogeneous sensing. Finally, numerical simulations show the effectiveness of
our method.
