The multi-agent rendezvous problem. Part 2: The asynchronous case

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

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    127 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 we mean a closed disk of positive radius τ 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 a single unspecified location. This paper describes a family of unsynchronized strategies for solving the problem. Correctness is established appealing to the concept of "analytic synchronization."

    Original languageEnglish
    Pages (from-to)2120-2147
    Number of pages28
    JournalSIAM Journal on Control and Optimization
    Volume46
    Issue number6
    DOIs
    Publication statusPublished - 2007

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