Energy-Efficient Rendezvous for Docking of Inter-Reconfigurable Modular Robots in Unknown Environments

Reconfigurable modular robots (RMRs) offer enhanced adaptability and collaborative capabilities compared to traditional robotic systems. However, coordinating multiple robots in unknown or dynamic environments remains a challenge in robotics. This article proposes a new algorithm for coordinated, energy-efficient rendezvous of multiple robots, which employs frontier exploration strategies. This approach minimizes the maximum steps taken by individual robots while optimizing energy usage in unknown environments and ensuring a balanced workload distribution. A novel directionless, alignment-tolerant docking mechanism for RMRs is also introduced in this article. This docking system allows robots to reconfigure through assembly and disassembly upon establishing a line of sight. Experimental results confirm the abilities of the proposed rendezvous method and the docking mechanism.