Rendezvous Algorithm for Disconnected Topologies

Abstract

Multi-Agent Systems (MAS) - a network composed of mobile agents with the objective of converging to a single location. No centralized infrastructure - implies the need for a decentralized algorithm to compute the actuation. Applicable to exploration missions - a group of robots with the target of sensing as much ground as possible. Typical solutions use consensus algorithms [1] [2], can cope with asymmetric wireless links. Consensus algorithms can be made to work with noisy measurements [3].