The subsequent development is based on the assumption that all robots have equal actuation capabilities, and each robot has sensing and communication limitations encoded by a disk area with radius *R*, which indicates that the two moving robots can sense and communicate within a distance of *R*. We also assume that only a subset of the robots, called informed robots, are provided with the knowledge of the destination, while the other robots can only use local state feedback (i.e., position feedback from immediate neighbors and absolute orientation measurement). Furthermore, while multiple informed robots may be used for rendezvous, the analysis and results of this work are focused on a single informed robot. The techniques proposed in this work could be extended to the case of multiple informed robots by using containment control, as explained in Remark 1. The interaction among the robots is modeled as a directed graph $G(t)=(V,E(t))$, where the node set $V={1,\u2026,N}$ represents the group of robots, and the edge set $E(t)$ denotes time-varying edges. The set of informed robots and followers are denoted as $VL$ and $VF$, respectively, such that $VL\u222aVF=V$ and $VL\u2229VF=\u2205$. Let $VL={1}$ and $VF={2,\u2026,N}$. A directed edge $(j,i)\u2208E$ in $G(t)$ exists between node *i* and *j* if their relative distance $dij\u225c||pi\u2212pj||\u2208\mathbb{R}+$ is less than *R*. The directed edge (*j*, *i*) indicates that node *i* is able to access the states (i.e., position and orientation) of node *j* through local sensing, but not vice versa. Accordingly, node *j* is a neighbor of node *i* (also called the parent of node *i*), and the neighbor set of node *i* is denoted as $Ni={j|(j,i)\u2208E}$, which includes the nodes that can be sensed. A directed spanning tree is a directed graph, where every node has one parent except for one node, called the root, and the root node has directed paths to every other node in the graph. Since the follower robots are not aware of the destination, they have to stay connected with the informed robot either directly or indirectly through concatenated paths, such that the knowledge of the destination can be delivered to all the nodes through the connected network. Hence, to complete the desired tasks, maintaining connectivity of the underlying graph is necessary.