Abstract
This paper introduces distributed control laws to make all spherical underwater robots rendezvous in a three dimensional environment with many obstacles. Assume that every spherical robot is located in 3-D environments where GPS is not available. Also, each robot moves with a constant speed and is given different available power level initially. The maneuver of every robot consumes its power, which implies that all robots must rendezvous in such a way that they do not run out of power. This paper proposes how to select the rendezvous points considering the power consumption. Then, distributed control laws are developed to enable rendezvous of multiple spherical robots with limited power. Using MATLAB simulations, we verify the effectiveness of our rendezvous approach in 3-D environments with many obstacles.
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