Combination framework of rendezvous algorithm for multi-agent systems with limited sensing ranges

In this paper, we present a novel rendezvous algorithm framework - the combination framework, which is named after the term convex combination in computational geometry. The convergence of the proposed algorithms is proved based on the novel tools from the recent results in graph theory and consensus study. It has been observed that the circumcenter algorithm can be considered as a special case of the combination framework. Moreover, the relevant analysis provides us a novel viewpoint on designing and the rendezvous rate of rendezvous algorithms for networked multi-agent systems with limited sensing ranges.