Minimum time power-aware rendezvous for multi-agent networks

This paper discusses the problem of power-aware rendezvous, in which a collection of mobile agents must decide where and when to meet in order to do so in the least amount of time, given different available initial power levels. Moreover, the movements of the individual agents directly affect the power consumption, which means that the agents must meet in such a way that they do not run out of power. This problem is first approached as an optimal control problem and then implemented in a distributed manner on a team of simulated mobile robots.