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
