Event-Based Rendezvous Control for a Group of Robots With Asynchronous Periodic Detection and Communication Time Delays

In this paper, we propose an event-triggered rendezvous control method for multiple two-wheeled mobile robots (2WMRs) subject to time-varying communication delays. By checking the integral-type event-triggering conditions asynchronously and periodically, each 2WMR determines whether or not to sample and broadcast its states. When the information used in an agent’s controller is updated, the 2WMR calculates its ${x}$ (or ${y}$ ) control input, and then a Rotate&Compensate&Run Rendezvous Scheme is provided for 2WMRs to update their states. We present a sufficient condition for 2WMRs to asymptotically reach rendezvous, and the convergence analysis is conducted using the Lyapunov functional approach. Experiments are further presented to validate the effectiveness of the proposed control method.