Rendezvous of mobile robots in unknown environment via graph optimization approach

The problem of finding a path for the motion of two autonomous mobile robots from a starting point to meet the other robot in a two dimensional domain is considered in the presence of arbitrary shaped obstacles. No a priori information is known in advance about the geometry and the dimensions of the workspace nor about the number, extension and location of obstacles. The robots have a sensing device that detects all obstacles or pieces of walls lying beyond a fixed view range. The problem is embedded in a graph optimization framework and a new algorithm is proposed, characterized by little computer power requirements. Theoretical and practical aspects of the algorithm are investigated