> For the complete documentation index, see [llms.txt](https://clemson-autonomous-systems.gitbook.io/clemson-university-autonomous-systems/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://clemson-autonomous-systems.gitbook.io/clemson-university-autonomous-systems/multi-agent-development/turtlebot-multi-agent-slam.md).

# Turtlebot Multi-Agent SLAM

This page will introduce you to the simulation environment we currently use to test multi-agent mapping.

## Simulation Environment

![The Turtlebot3 House](https://2257299444-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MDFWl6FJNNzxuDA_xAi%2F-MDLC7P0ktFNizH7JtgS%2F-MDLE-VQiKNBLN0jx5sE%2Fdefault_gzclient_camera\(1\)-2020-07-28T12_20_51.803826.jpg?alt=media\&token=4c3bbc16-9c4c-44d2-afd3-7d7346d90c30)

As stated in the previous section, we use Gazebo to evaluate the multi-agent-mapping strategies. This simulation environment is called the `turtlebot3_house` and stations three turtlebots in different rooms of the house. Each of the turtlebots come with their own navigation stack, as well as a LIDAR sensor that can be used for 2D SLAM. On the next page, we will go over how to install the necessary dependencies, as well as the development package for multi-agent slam on your own machine.