  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.
