Multi-Agent Robot System for Autonomous Fire Extinguisher Detection and Navigation using Robotic Operating System and Two Turtlebots

Abstract

Fire is a significant risk that can have devastating consequences, including loss of life, property damage, and environmental destruction. One way to reduce the risk of fires is through the use of fire extinguishers, which can help to cool down the heat or remove the oxygen from a fire to prevent it from continuing to burn. In this project, a multi-agent robot system consisting of two Turtlebot2 robots with the ROS was developed to autonomously locate and navigate to fire extinguishers in an unknown environment. The first robot, called Turtlebot A, moved through the environment and detected the location of the fire extinguisher, which was then defined as a goal for the second robot, called Turtlebot B. Turtlebot A also created a map of the environment using an RGB-D camera and sent it to Turtlebot B, which used it to plan a path and navigate to the fire extinguisher location while avoiding obstacles. The project demonstrated the potential of multi-agent robots to communicate with each other and work together to achieve a shared goal, as well as the capabilities of ROS for autonomous navigation and path planning