İşbirlikli kontrolde görülen çok araçlı buluşma problemi için optimal bir çözüm

The multi-agent rendezvous problem appearing in cooperative control is considered in this thesis. There are variousapproaches to this topic as the objectives and problem set-ups vary in real-life rendezvous problems. Some of theapplications can be given as the coordination of autonomous mobile robots or unmanned air vehicles (UAVs) for jointtasks, and motion planning for vehicle convoys. The problem is basically on providing a rendezvous for mobile agentsat a specified or unspecified destination. What makes the topic interesting is maintaining a coordination between themobile agents so that the agents reach the rendezvous point simultaneously. Early or late arrivals are not desired.An energy optimal solution is obtained for the problem. Imperfectroad conditions, obstacles, internal problems of the agents or similar disturbancesare also tried to be handled. As these factors are included in the problem, it is assumed that theagents communicate between each other at specified time instants exchanginginformation about their expected arrival times in order to maintain a commonrendezvous time among the team.The solution is initially derived for rendezvous in one-dimensioned space. Then, the problemconfiguration is altered for two-dimensioned motions, and the target point is assumed to be moving in order to extend thesolution to possible practical applications. The effect of increasing disturbance on the control inputand time delays in the communication are also discussed.