Rendezvous of heterogeneous robots amidst obstacles with limited communication

We consider the problem of rendezvous between a pair of mobile robots. The robots could be heterogeneous. We assume communication is limited to infrared beacons on each robot. No a priori knowledge of the positions of the robots is required. We present an algorithm for rendezvous of the robots in an environment that may contain one or more obstacles. We also address the issue of ambience when dealing with infrared beacons. Experiments with a mobile robot and a bipedal robot are presented to validate the efficacy of the proposed algorithm.