Mapping and Autonomous Navigation of an Indoor Environment in ROS Platform using Multiple Robots Equipped with LIDAR

Abstract

This paper presents a comprehensive study on the development and implementation of a multi robot system for mapping and autonomous navigation within indoor environments, using the Robot Operating System (ROS) platform and LIDAR sensors. The ROS framework serves as the foundation for this endeavor, allowing seamless integration of sensor data, robot control, and high-level navigation algorithms. To realize Simultaneous Localization and Mapping (SLAM), we used a cartographer with ROS, ultimately enabling each robot to construct local maps of its surroundings. The paper discusses the mechanisms for merging these local maps into a coherent global map, emphasizing multi-robot SLAM techniques that facilitate collaborative mapping.