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The complex and rugged terrain features often pose significant threats to the navigation performance of each robot, thereby presenting considerable challenges for conducting safe and efficient collaborative operations in such environments. This article proposes a multi\u2010robot cooperative navigation framework aimed at addressing these challenges on uneven road surfaces. Based on three\u2010dimensional Voronoi partitioning, a terrain\u2010aware partitioning strategy (TAPM\u2010IVP) is introduced, enabling each robot to perform real\u2010time terrain analysis, categorizing the space into traversable space, non\u2010traversable space, and free space, thus facilitating task allocation in complex uneven terrain. Based on the partition results of TAPM\u2010IVP, a greedy heuristic sub\u2010goal decision method is proposed, which selects safe, non\u2010redundant, and collision\u2010free target points, employing a hierarchical generation strategy to guide the robotic system in efficiently navigating in unknown environments, thereby significantly enhancing navigation adaptability and task completion efficiency in uneven scenarios. Finally, both simulations and real\u2010world experiments validate the feasibility, safety, and efficiency of the proposed framework for cooperative navigation in uneven road conditions.<\/jats:p>","DOI":"10.1002\/rob.70260","type":"journal-article","created":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T08:44:13Z","timestamp":1780649053000},"page":"4531-4548","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Multi\u2010Robot Collaborative Navigation Framework Based on 3D Voronoi Partitioning in Uneven and Unstructured Environments"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0755-990X","authenticated-orcid":false,"given":"Hongyang","family":"Zhao","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering Northeast Forestry University Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-5598-1306","authenticated-orcid":false,"given":"Kunyu","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Northeast Forestry University Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nuo","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Northeast Forestry University Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xingdong","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Northeast Forestry University Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Jin","sequence":"additional","affiliation":[{"name":"Department of Control Science and Engineering Harbin Institute of Technology Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,6,5]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3700591"},{"key":"e_1_2_9_3_1","doi-asserted-by":"crossref","unstructured":"Azp\u00farua H. 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