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This is a situation in which a DNS server (which is coupled with / knows how to deal with your DHCP server) would work best. Instead of using IP addresses, you'd give hostnames to your robots and your PC, and then make sure the DNS server can resolve the hostnames to the IPs (and back).

All your robots would then have ROS_MASTER_URI=http://hostname_of_your_pc:11311, which would work no matter what IP your PC gets. You would also need to make sure ROS_HOSTNAME is configured correctly on all three robots & your PC.