Towards power-aware rendezvous

In this paper we connect the power consumed by agents in a network to how much they move. In other words, by moving around, the agents´ power levels decrease, which in turn impacts the range at which they can sense/communicate with neighboring agents. This work constitutes the first, explicit connection between mobility and power consumption from the point of view of being able to carry out the coordinated controls task and we, in particular, investigate the effect of power consumption on the rendezvous problem, i.e., the problem of having the agents meet at a common location. Conditions are given for when the rendezvous problem can be achieved for a two-agent problem as well as for a network of agents organized in a directed cycle graph.