Abstract：In order to improve the stability of multi-agent systems,a kind of fault tolerant mechanism was put forward in the view point of anchor selection,based on the global rigid constraints and self-localization in a multi-agent autonomous formation. The tough task of optimal anchor selection corresponding to the single set of agents was transformed in to an easy going problem,i. e. the sub-optimal anchor selection corresponding to the multiple sets of agents. A case study for the autonomous formation of seven agents was demonstrated to elucidate the concerned problem in detail. And even further,the concept of influence ratio was coined to facilitate the maintenance of the key anchors in a global multi-agent system. Both theoretical research and simulation results verified the correctness of the addressed method.

Keyword：localization;multi-agent systems;sensor networks;fault tolerant mechanism;