Abstract
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.