A smooth distributed feedback for global rendezvous of unicycles

This paper presents a solution to the rendezvous control problem for a network of unicycles on the plane. A smooth, time-invariant control law is presented that drives the unicycles to a common position from arbitrary initial conditions. Each unicycle is equipped with an onboard camera and can measure its relative displacement to its neighbors in body frame. The feedback is a function only of these onboard measurements and no global positioning system is required, nor any information about the unicycles' orientations.