18 Roombas: Communication Swarm SLAM

This dataset comprises 18 ten-minute experiments conducted in an 8 by 8 meter environment using 18 Roomba robots. A motion capture system was used to provide ground truth reference data. The trials were performed using three different motion strategies across three distinct environments. Each strategy-environment combination was repeated twice, resulting in a total of 3 × 3 × 2 = 18 trials. The dataset includes odometry, ground truth, bumper sensor data, and simulated communication.