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Usually, this is achieved just by local perception. Aren't you using any range sensors? However, here is a potential way:

I assume that you know the poses of the turtlebots, i.e. you can subscribe to their odometry resp. AMCL poses.

Indeed, you could write your own costmap layer plugin. However, you can try the navigation stack in combination with the teb_local_planner as it supports additional custom obstacles. You could write a small script as described here that publishes the position of the other turtlebots as obstacle message to each turtlebot. You will have a minor communication delay, however, it might be negligible.