An optimal solution for the multi-agent rendezvous problem appearing in cooperative control

Abstract

The multi-agent rendezvous problem appearing in cooperative control is considered in this thesis. There are various approaches to this topic as the objectives and problem set-ups vary in real-life rendezvous problems. Some of the applications can be given as the coordination of autonomous mobile robots or unmanned air vehicles (UAVs) for joint tasks, and motion planning for vehicle convoys. The problem is basically on providing a rendezvous for mobile agents at a specified or unspecified destination. What makes the topic interesting is maintaining a coordination between the mobile agents so that the agents reach the rendezvous point simultaneously. Early or late arrivals are not desired. An energy optimal solution is obtained for the problem. Imperfect road conditions, obstacles, internal problems of the agents or similar disturbances are also tried to be handled. As these factors are included in the problem, it is assumed that the agents communicate between each other at specified time instants exchanging information about their expected arrival times in order to maintain a common rendezvous time among the team. The solution is initially derived for rendezvous in one-dimensioned space. Then, the problem configuration is altered for two-dimensioned motions, and the target point is assumed to be moving in order to extend the solution to possible practical applications. The effect of increasing disturbance on the control input and time delays in the communication are also discussed.