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- A Framework for Lyapunov Certificates for Multi-Vehicle Rendezvous Problems + (In this paper we present a dynamical syste … In this paper we present a dynamical systems representation for multi-agent rendezvous on</br>the phase plane. We restrict our attention to two agents, each with scalar dynamics. The problem of rendezvous is cast as a stabilization problem, with a set of constraints on the trajectories</br>of the agents, defined on the phase plane. We also describe a method to generate control Lyapunov functions that when used in conjunction with a stabilizing control law, such as Sontag's</br>formula, make sure that the two-agent system attains rendezvous. The main result of this paper</br>is a Lyapunov-like certificate theorem that describes a set of constraints, which when satisfied</br>are su±cient to guarantee rendezvous.fied are su±cient to guarantee rendezvous.)