Multi Robot Mapping in Navigation_2d Tutorials

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The tutorials for the navigation_2d package are provided here. The first 3 work flawlessly and, being a beginner, they have taught me a lot. However, the next 2 tutorials have very little documentation, namely the ones corresponding to the tutorial4.launch file in the package and a tutorial that helps one implement their own exploration strategy. They can be found at these links: tutorial4.launch Exploration Strategy

I was wondering if anyone had managed to successfully implement tutorial4.launch file, the one which deals with multi-robot exploration and mapping. I would greatly appreciate it if you could give me a few pointers on how to set it up or maybe direct me to a link with a more detailed explanation of the working methodology.

Thank You!