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This paper presents a solution to the rendezvous control problem for anetwork of kinematic unicycles in the plane, each equipped with an onboardcamera measuring its relative displacement with respect to its neighbors inbody frame coordinates. A smooth, time-independent control law is presentedthat drives the unicycles to a common position from arbitrary initialconditions, under the assumption that the sensing digraph contains areverse-directed spanning tree. The proposed feedback is very simple, andrelies only on the onboard measurements. No global positioning system isrequired, nor any information about the unicycles' orientations.

A Smooth Distributed Feedback for Global Rendezvous of Unicycles