Coordination of multiple agents via combination algorithms

Multi-agent rendezvous is of great importance in study of networked agent systems. In this paper, we propose a novel combination rendezvous algorithm framework and the corresponding algorithms. The convergence of the algorithms is proved based on the novel tools developed in recent research on graph theory and consensus study. It is noted that the widely studied circumcenter algorithm can be considered as a special case of the combination framework. Moreover, analysis on the framework provides a new viewpoint on designing coordination algorithms for multiple agents with limited sensing ranges. Numerical examples have illustrated effectiveness of the proposed algorithms and also made a comparison between the proposed algorithms and the existing algorithms.