Ternary and hybrid controllers for the rendezvous of unicycles

This paper presents the rendezvous (consensus) of the orientations and average positions of a group of unicycles. We assume that the decentralized controllers designed for consensus of the average positions take only values in the set {-1; 0; +1}. In addition, we introduce a hybrid controller to reach the consensus of the orientations. Finite-time practical consensus of the average positions is proven despite the simple ternary control laws together with asymptotic consensus of the orientations.