Consensus-based rendezvous

We present a distributed algorithm for solving the rendezvous problem based on the so-called consensus protocols. By using the properties of the consensus protocols we show that our algorithm drives the agents in the formation to a common configuration without the need for the agents to communicate with each other, and with no need for the agents to work in a common reference frame. We also show that several existing rendezvous algorithms can be viewed as special cases of the proposed algorithm. We include simulation results to illustrate the approach.