  This paper presents a solution to the rendezvous control problem for a
network of kinematic unicycles in the plane, each equipped with an onboard
camera measuring its relative displacement with respect to its neighbors in
body frame coordinates. A smooth, time-independent control law is presented
that drives the unicycles to a common position from arbitrary initial
conditions, under the assumption that the sensing digraph contains a
reverse-directed spanning tree. The proposed feedback is very simple, and
relies only on the onboard measurements. No global positioning system is
required, nor any information about the unicycles' orientations.
