Design of a Nonlinear Control Law for a Group of Differential-Wheel Robots Performing Rendezvous

The problems related to the coordination of mobile robots have been widely studied in the past and, because of the possible real scenarios, they are still considered one of the most interesting field of research. Even if many methods have been used to solve such problems, a new approach based on results borrowed from graph theory has been introduced in recent works. In particular, the coordination between agents relies on the possibility of solving the rendezvous problem and to drive all the agents to a predefined final state. Starting from these considerations, in this paper the stability of a group of differential-wheeled robots performing rendezvous by exploiting only local measurements is demonstrated and supported by means of simulations.