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Rendezvous of Unicycles with Continuous and Time-Invariant Local Feedback

Abstract In this paper, a local feedback control strategy is devised to drive a group of nonholonomic unicycle-type vehicles to a rendezvous point. The proposed control law is continuous and time-invariant. Using tools from graph theory, convergence and ultimate boundedness properties of the overall system are examined. Similar to the results for the rendezvous problem for vehicles governed by linear dynamics, the convergence of the studied overall multi-agent system relies on the connectivity of the interaction graph. The validity of this control law is verified by computer simulations.