Optimal motion planning for the rendezvous of nonholonomic vehicles under disturbances

This paper presents a strategy for the coordination of teams of nonholonomic vehicles on phased operations. On each phase, the vehicles should arrive simultaneously to their goal locations. The vehicles establish communication only during brief instants, coinciding with the arrival at the desired locations. The arrival time is minimized by the control design. The control design is made taking in account the existence of constant disturbances.