A decentralised control method for unknown environment exploration using Turtlebot 3 multi-robot system

Abstract

The paper presents a case study of multi-robot coordination using a Greedy decentralized method for controlling a system of tree Turtlebot 3 mobile robots. The robots use Robot Operating System (ROS) as platform for develop control framework and simulations were performed in Gazebo. The case study is focus on developing a greedy frontier exploration method for the Turtlebot 3 multi-robot system with the scope of exploring an unknown environment. The experimental results are obtained by simulating the system evolution in Gazebo. The experimental results are analyzed and the findings are presented in the paper.