On the Rendezvous problem for Groups of Car-like Mobile Robots

This paper deals with the rendezvous for groups of car-like mobile robots. In the main part of this work we solve the rendezvous problem for bounded steering vehicles by applying discontinuous feedback control in combination with a specific switching logic. This logic commands certain vehicles to perform orientation adjusting maneuvers that drive the system out of undesired equilibria. The developed control system is demonstrated in several laboratory hardware experiments.