A Rendezvous Algorithm for Multi-agent Systems in Disconnected Network Topologies

This paper addresses the problem of having a multi-agent system converging to a rendezvous location for networks of agents without any type of localization sensor. A central node or tower is able to determine the noisy position of each agent and transmit it using a directional antenna. Given the asynchronous communication setup, the topology will not be connected in general, which precludes the use of set-consensus algorithms available in the literature. By devising a flocking rule with mechanisms to prevent collisions, nodes explore the mission plane while maintaining the current connectivity. The process is followed by a convergence phase using a modified set-consensus algorithm with collision-free guarantees and asymptotic convergence. Results are also presented that, if there is a sufficient density of nodes, convergence occurs to a single cluster. The performance of the proposed algorithm is assessed through simulations, illustrating the cases where convergence occurs to a single or multiple clusters.