The Multi-Agent Rendezvous Problem. An Extended Summary

J. Lin, A. S. Morse, B. D.O. Anderson

    Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

    41 Citations (Scopus)

    Abstract

    This paper is concerned with the collective behavior of a group of n > 1 mobile autonomous agents, labelled 1 through n, which can all move in the plane. Each agent is able to continuously track the positions of all other agents currently within its "sensing region" where by an agent's sensing region is meant a closed disk of positive radius r centered at the agent's current position. The multi-agent rendezvous problem is to devise "local" control strategies, one for each agent, which without any active communication between agents, cause all members of the group to eventually rendezvous at single unspecified location. This paper describe two types of strategies for solving the problem. The first consists of agent strategies which are mutually synchronized in the sense that all depend on a common clock. The second consists of strategies which can be implemented independently of each other, without reference to a common clock.

    Original languageEnglish
    Title of host publicationCooperative Control
    Subtitle of host publicationA Post-Workshop Volume 2003 Block Island Workshop on Cooperative Control
    EditorsVijay Kumar, Naomi Leonard, A. Stephen Morse
    Pages257-289
    Number of pages33
    Publication statusPublished - 2005

    Publication series

    NameLecture Notes in Control and Information Sciences
    Volume309
    ISSN (Print)0170-8643

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