Rendezvous with bearing-only information and limited sensing range

Published in IEEE International Conference on Robotics and Automation (ICRA), 2015

Recommended citation: Kriegleder, M., Digumarti, S. T., Oung, R., & D Andrea, R. (2015). "Rendezvous with bearing-only information and limited sensing range." IEEE Conference on Robotics and Automation, 2015, pp. 5941-5947.


This paper proposes a generalized algorithm that enables mobile agents to meet in a bounded region based only on bearing information of other agents within their vicinity. Each agent repeatedly employs a stop-and-go strategy consisting of the following three actions: (1) Estimate the bearing of agents in its vicinity, (2) compute a target point based on the estimates, and (3) move to that target point. The motivation and case study example is a modular robot, the Distributed Flight Array, which we employ to validate the proposed algorithm.