Ellipsoidal Cones and Rendezvous of Multiple Agents

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Raktim Bhattacharya, Jimmy Fung, Abhishek Tiwari, Richard M. Murray
Submitted, 2004 Conference on Decision and Control

In this paper we use ellipsoidal cones to achieve rendezvous of multiple agents. Rendezvous of multiple agents is shown to be equivalent to ellipsoidal cone invariance and a controller synthesis framework is presented. We first demonstrate the methodology on first order LTI systems and then extend it to rendezvous of mechanical systems, that is systems that are force driven.