Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the rendezvous. Traditionally, exploration has been focused on rapidly mapping the environment, often leading to suboptimal rendezvous performance in later stages. We adapt a standard frontier-based exploration technique to integrate exploration and rendezvous into a unified strategy, with a mechanism that allows robots to re-visit previously explored regions thus enhancing rendezvous opportunities. We validate our approach in 3D realistic simulations using ROS, showcasing its effectiveness in achieving faster rendezvous times compared to exploration strategies.

翻译：多机器人汇合与导航探索是移动机器人系统领域的基础性挑战。本文研究了初始未知环境中的多机器人汇合问题，在该环境下机器人仅能在汇合后进行通信。传统探索策略侧重于快速完成环境建图，往往导致后续阶段的汇合性能欠佳。我们改进了标准前沿探索技术，将探索与汇合整合为统一策略，并引入允许机器人重复访问已探索区域的机制以增加汇合机会。通过ROS平台的三维逼真仿真实验验证，相较于传统探索策略，本方法可显著缩短汇合时间。