diff --git a/Projet/pioneer_gazebo_ros/pioneer_gazebo/launch/frontier_exploration_world.launch b/Projet/pioneer_gazebo_ros/pioneer_gazebo/launch/frontier_exploration_world.launch
new file mode 100644
index 0000000..3e010b0
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_gazebo/launch/frontier_exploration_world.launch
@@ -0,0 +1,31 @@
+<launch>
+
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  <arg name="model" default="$(find pioneer_description)/urdf/pioneer3dx.xacro"/>
+
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find pioneer_gazebo)/worlds/closed_maze.world"/>
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+
+  <!-- Load the URDF into the ROS Parameter Server -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
+    
+  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
+	args="-x 0 -y 0 -z 0 -Y 0 -urdf -model pioneer -param robot_description"/>
+
+  <!-- ros_control pioneer launch file -->
+  <!--include file="$(find pioneer_control)/launch/pioneer_control.launch" /-->
+
+</launch>