Open Access Open Access  Restricted Access Subscription Access

Multi-Agent Rendezvous Algorithms under Various Information Paradigms

Kaushik Das, Debasish Ghose


This paper addresses the problem of achieving rendezvous in a multi-agent system under various information paradigms. We consider two classes of algorithms (i) Broadcast based algorithms and (ii) Distributed control algorithms. In the first we consider a case where each agent is homogeneous and all agents are controlled by the same broadcast command from a centralized controller. This method has low communication cost. In the second case we consider each agent to implement its own control based on information gathered from its neighbours through a limited sensing capability. In this paper we give a brief overview of the broadcast based methods and some results on the distributed control algorithm where a modification in the decision domain of the agents is shown to yield significant benefits in terms of computational time, when compared with standard algorithms available in the literature. Moreover, we also show its straightforward application to higher dimensional problems which is a considerable improvement over available algorithms in the literature.

Full Text:



T. Bretl, Control of Many Agents Using Few Instructions, Third Robotics Science and System Conference, Atlanta, 2007.

K. Das and D. Ghose, Positional Consensus in Multi-Agent Systems using a Broadcast Control Mechanism, American Control Conference, St. Louis, Missouri, USA, 2009, pp. 5731 - 5736.

K. Das and D. Ghose, Randomization Mechanisms Based Positional Consensus in Homogeneous Multi-Agent Systems, IISc Centenary International Conference on Aerospace Engineering, Bangalore, India, 2009, pp 1327 - 1335.

K. Das and D. Ghose, Multi-agent Rendezvous Algorithm with Rectilinear Decision Domain, FIRA, 2010, Bangalore.

H. Ando, Y. Oasa, I. Suzuki and M. Yamashita, Distributed Memoryless Point Convergence for Mobile Robots with Limited Visibility, IEEE Transactions on Robotics and Automation, vol. 15, pp 818 - 828, 1999.

Z. Lin, M. Broucke and B. Francis, Local Control Strategies for Groups of Mobile Autonomous Agents, IEEE Transactions on Automatic Control, vo. 49, pp 622-628, 2004.

J. Cortes, S. Marti’nez and F. Bullo, Robust Rendezvous for Mobile Autonomous Agents via Proximity Graphs in Arbitrary Dimensions, IEEE

Transactions on Automatic Control, vol. 51, pp 1289 - 1298, 2006.

B. Gartner: A subexponential algorithm for abstract optimization problems, SIAM Journal Computers, 24(5):1018-1035, 1995.

G. Conte and P. Pennesi, The Rendezvous Problem With Discontinuous Control Policies, IEEE Transaction of automatic Control, vol. 55, pp – 279-

, 2010.

J. Lin, A. S. Morse, and B. D. O. Anderson. The multi-agent rendezvous problem. In Proceedings of the 42nd IEEE Conference on Decision and Control, pages 1508-1613, Maui, USA, 2003



  • There are currently no refbacks.