KORTHOS / ECOSYSTEM / PRODUCT

TurtleBot 4

About

About TurtleBot 4

TurtleBot 4 combines an iRobot Create 3 mobile base with ROS 2 compute and development hardware. Standard models add a two-dimensional lidar, OAK-D depth camera and Raspberry Pi computer, while Lite models provide a simpler entry configuration.

The platform supports autonomous docking, mapping, navigation, computer vision and manipulator integration. Clearpath publishes open-source software, simulation models and educational material for laboratories and classrooms. Expansion plates and accessible power interfaces support additional sensors and application hardware.

Capabilities

Source-backed capabilities

  • Target markets: Robot developer platform
  • Navigation and obstacle avoidance

    Research demonstration - 2024-12-29 - Hybrid Feedback Control for Global Navigation with Locally Optimal Obstacle Avoidance in n-Dimensional Spaces

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  • SLAM mapping

    Claimed - 2022-05-04 - Clearpath launched TurtleBot 4 with integrated LiDAR, stereo vision and Create 3 sensing for localization, navigation and SLAM testing.

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  • Vision-language navigation

    Research demonstration - 2025-03-13 - SmartWay: Enhanced Waypoint Prediction and Backtracking for Zero-Shot Vision-and-Language Navigation

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Research

  • Generative adversarial imitation learning for robot swarms: Learning from human demonstrations and trained policies

    2026-03-03 - Research Publication - Most of the work in imitation learning for swarm robotics provides the demonstrations as rollouts of an existing policy. The exhibited behaviors preserved their visually recognizable character and their performance is comparable to the one achieved in simulation.

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  • Multimodal Large Language Models for Real-Time Situated Reasoning

    2026-02-02 - Research Publication - The authors explore how multimodal large language models can support real-time context- and value-aware decision-making. The model evaluates the environment through vision input and determines whether it is appropriate to initiate cleaning.

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  • SmartWay: Enhanced Waypoint Prediction and Backtracking for Zero-Shot Vision-and-Language Navigation

    2025-03-13 - Research Publication - The authors propose a zero-shot VLN-CE framework integrating an enhanced waypoint predictor with a Multi-modal Large Language Model (MLLM)-based navigator. Real-world validation on Turtlebot 4 further highlights its adaptability.

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  • Hybrid Feedback Control for Global Navigation with Locally Optimal Obstacle Avoidance in n-Dimensional Spaces

    2024-12-29 - Research Publication - The authors present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. Extensive simulations in 2D and 3D settings, complemented by experimental validation on a TurtleBot 4 platform, confirm the efficacy and robustness of the approach. Their results demonstrate shorter paths and smoother trajectories compared to state-of-the-art methods, while maintaining computational efficiency and real-world feasibility.

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  • Asymptotically Optimal Lazy Lifelong Sampling-based Algorithm for Efficient Motion Planning in Dynamic Environments

    2024-09-10 - Research Publication - The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge evaluation is expensive. The experiment of planning for a Turtlebot 4 operating in a dynamic environment with several moving pedestrians further verifies the feasibility and advantages of the proposed algorithm.

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Resources

Media library

Official documentation, exact-product imagery and verified tutorials for the Clearpath Robotics TurtleBot 4 mobile robotics platform.

Timeline

  • Clearpath opens TurtleBot 4 Standard and Lite orders

    2022-05-04 - Product Launch - Both models combined an iRobot Create 3 base, Raspberry Pi 4 computer, 2D lidar, spatial-AI stereo camera and automatic charging dock. The Standard model added a powered USB hub, power breakouts, top mounting plate and programmable display for hardware expansion. Clearpath offered the robots through authorised distributors in North America, Europe and Asia, with launch prices starting at US$1,850 for Standard and US$1,195 for Lite.

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Context

Tags

  • Peer Group: Compact indoor differential-drive learning robot, ROS research mobile-robot platform
  • Customer Segment: Robot developer platform
  • Stack Layer: Finished robot platform
  • Commercial Stage: Research platform