Abstract. This paper presents a natural extension of the results obtained by Feintuch and Francis in [5,6] concerning the so-called robot rendezvous problem. In particular, we revisit a known necessary and sufficient condition for convergence of the solution in terms of Cesàro convergence of the translates S k x0, k ≥ 0, of the sequence x0 of initial positions under the right-shift operator S, thus shedding new light on questions left open in [5,6]. We then present a new proof showing that a certain stronger ergodic condition on x0 ensures that the corresponding solution converges to its limit at the optimal rate O(t −1/2 ) as t → ∞. After considering a natural two-sided variant of the robot rendezvous problem already studied in [5] and in particular proving a new quantified result in this case, we conclude by relating the robot rendezvous problem to a more realistic model of vehicle platoons.