Let $R_1,R_2,R_3,R_4,T$ be points on a 2D plane, as in this figure.
$R_1,R_2,R_3,R_4$ are reference points with known positions. The goal is to find the position of $T$. $d$ is the Euclidean distance function, $p,q,r$ are known real numbers. We know the following distance differences only. $$d(R_1,T)-d(R_2,T)=p$$ $$d(R_2,T)-d(R_3,T)=q$$ $$d(R_3,T)-d(R_4,T)=r$$
Can $R_1,R_2,R_3,R_4$ be chosen such that the location of T can be uniquely determined, regardless of T's location? If so, is there a formula that can be used to determine T's location?
For what it's worth, the same problem in terms of the Cartesian coordinate system gives the following equation system: $$R_1=(a,b), R_2=(c,d), R_3=(e,f), R_4=(g,h), T=(x,y)$$ $$\sqrt{(a-x)^2+(b-y)^2}-\sqrt{(c-x)^2+(d-y)^2}=p$$ $$\sqrt{(c-x)^2+(d-y)^2}-\sqrt{(e-x)^2+(f-y)^2}=q$$ $$\sqrt{(e-x)^2+(f-y)^2}-\sqrt{(g-x)^2+(h-y)^2}=r$$