Swarm Exploration and Autonomous Mapping

One robot can map a room; a swarm can map a building. Fleets of TurtleBot3 robots are dropped into unknown Gazebo worlds with no map and no teleoperation. Each robot runs SLAM, merges its local occupancy grid into a shared global one, and pushes toward the nearest frontier until nothing unexplored is left. The build climbs from single-robot SLAM through map merging to coordinated exploration with collision avoidance.