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arXiv · 1605.07982

A Smooth Distributed Feedback for Global Rendezvous of Unicycles

Ashton Roza·Manfredi Maggiore·Luca Scardovi
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Abstract

This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame coordinates. A smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph contains a reverse-directed spanning tree. The proposed feedback is very simple, and relies only on the onboard measurements. No global positioning system is required, nor any information about the unicycles' orientations.

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Ashton Roza, Manfredi Maggiore, Luca Scardovi. 2016-05-25. A Smooth Distributed Feedback for Global Rendezvous of Unicycles. https://arxiv.org/abs/1605.07982

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