I think the title is self-explanatory.
Just spent 30 minutes looking for a cat that got stuck in an odd spot somewhat far from base, hence the Command Drum didn't work.

I don't have a suggestion for exact implementation, but it shouldn't be too similar to the Command Drum.
Maybe shift-right-clicking the Wayward Lantern brings up a menu that shows all tamed pets. Selecting one makes it ring - the selected pet/pets teleport to it by next dawn, similar to the pet bed.

Cheers!