About the TurtleBots

TurtleBot is a low-cost, personal robot kit with open source software. TurtleBot was created at Willow Garage by Melonee Wise and Tully Foote in November 2010.

In MURO lab, we currently have 12 Turtlebot 4's. Each bot consists of an iRobot Create 3 base, 26 Wh battery pack, OAK-D-PRO, RPLIDAR-A1, IMU, 2 wheel encoders, 6 IR obstacle sensors, downward optical flow, Raspberry PI 4b, hardware mounting kit, and charging dock.

In MURO lab, we also have 10 Turtlebot 2's. Each bot consists of an Yujin Kobuki base, a 2200 mAh battery pack, a Kinect sensor, a laptop, a hardware mounting kit and a charging dock.

A Linux based framework, Robotics Operating System (ROS), is use for robotics control. Currently, all the source code for controlling the Turtlebot are implemented in Python and C++.

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Applications

Turtlebots are the ground robots in our testbed. They are being used for integration testing to verify control, estimation and mapping algorithms' performance on hardware and for deployment demo to show our progress.

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Algorithms Implemented

Multi-agent control algorithms and motion control algorithms are tested on the Turtlebot after they passed the proof of concept stage in simulations.

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Experiments

Here's a video of the Turtlebots in action during a deployment:

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