Rendezvous without coordinates

Jingjin Yu, Steven M. LaValle, Daniel Liberzon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Scopus citations


We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously in this way, the agents will achieve rendezvous if the initial assignment graph is connected. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus appears to be the first example in which an interesting task is performed with extremely coarse sensing and control, and without state estimation. The system was implemented in computer simulation, accessible through the Web1, of which the results are presented in the paper.

Original languageEnglish (US)
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Number of pages6
StatePublished - 2008
Externally publishedYes
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: Dec 9 2008Dec 11 2008

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216


Other47th IEEE Conference on Decision and Control, CDC 2008

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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