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In this paper a convergent, nearest-neighbor, control protocol is suggestedfor agents with nontrivial dynamics. The protocol guarantees convergence to acommon point in space even if each agent is restricted to communicate with asingle nearest neighbor. The neighbor, however, is required to lie outside anarbitrarily small priority zone surrounding the agent. The control protocolconsists of two layers interconnected in a provably-correct manner. The firstlayer provides the guidance signal to a rendezvous point assuming that theagents have first order dynamics. The other layer converts in a decentralizedmanner the guidance signal to a control signal that suits realistic agents suchas UGVs, UAVs and holonomic agents with second order dynamics.

Nearest Neighbor-based Rendezvous for Sparsely Connected Mobile Agents