Discrete-Time Rendezvous Algorithms for Mobile Autonomous Agents

In this study, the consensus problem of a class of discrete-time multi-agent systems with switching topology is considered. A consensus algorithm is constructed for the multi-agents rendezvous. The algorithm based on nearest neighbor rules is composed of odd time steps and even time steps. In odd time steps, each agent maintains its state toward the states of its neighbors, and in even time steps its state maybe be updated by the condition of connection of last odd time step with its neighbors. If an agent is disconnected with one of its neighbors in an even time step which was connected in the last odd time step, its state should be restored as the last odd time step, otherwise its state should not be changed. We provide a convergence analysis for the disagreement network dynamics of a undirected network with switching topology by applying the matrix theory and the graph theory. Some sufficient criteria are obtained for the discrete-time multi-agent systems with switching topology. Simulation results show the correctness of results.