Or . . . get a ~$40 speaker selector switch with impedance protection, connect it between the AVR and the volume controls and press on. The reason you would need a separate amplifier is if the volume is too low. I doubt powering just three sets of speakers will be too much for the AVR when impedance protected.
Or . . . if the AVR has an "all channel stereo" mode, connect each set of speakers to a different set of AVR speaker outputs (i.e. L/R Front, Surround L/R, and Rear Surround L/R) and then enable this "all channel stereo" mode (goes by different names with different manufacturers) to provide an identical stereo signal to all three sets of room speakers.
This potential solution has the advantage of using the "extra" amplifiers already resident in the AVR, instead of paying for additional ones.
Cheers,
XEagleDriver