<p>This paper investigates formation control in multi-agent systems to adjust deformation and scaling for obstacle avoidance using local information. A well-known issue with angle-based formation control is the existence of size ambiguity. Introducing additional controlled variables can potentially mitigate this problem. Therefore, unlike purely angle-based formation control methods that can only adjust deformation, our approach can also control scaling by introducing distance measurements. Specifically, all agents use their local coordinate systems and sense neighboring agents to obtain angle measurements, with only one agent measuring the distance to its neighbor. In the proposed formation control scheme, angle measurements are used to control the desired shape, while distance measurements regulate the formation scaling. Different formation control strategies for triangular and polygonal configurations are discussed, utilizing angle rigidity to ensure the stability of the final shape in polygonal configurations with only one distance measurement used for formation scaling. Additionally, by relaxing the condition of angular rigidity and utilizing the concept of formation rigidity, we propose a formation determination method to construct a rigid square configuration, in which a pair of distances measured by one agent are used to control the formation’s scaling. Finally, using a simplified model of a quadrotor unmanned aerial vehicle (QUAV), simulation results validate the effectiveness of the proposed formation control scheme through several examples.</p>