Rendezvous trajectory generation for energy trophallaxis

This paper presents a novel approach of rendezvous trajectory generation for mobile robots. Rendezvous is a special study of two robots or more moving to meet at a previously agreed location. In multi-robot systems, rendezvous plays a significant role in carrying out different missions such as formation performance, collective tasks, swarming behaviours, self-assembly, self-sharing energy, self-recharging energy, etc. In this paper, we investigate a method of trajectory generation, which makes robot performing energy trophallaxis. The proposed method is a kinematic-based model that fully satisfies dynamic constraints of mobile robots as well as desirability of the final robot postures at the rendezvous point. Simulation results of the generated trajectory are provided to demonstrate the possibility of this approach.