The three, who worked for a security contractor at the asylum seeker processing centre on PNG's Manus Island, are accused of raping another employee at the Australian-run centre.
Shortly after the alleged rape in July, the three were flown out of the country.
PNG police efforts to have the three extradited have so far been unsuccessful.
PNG's Prime Minister Peter O'Neill said the three guards must be returned to be tried under the law in PNG, where rape convictions carry the death sentence.