Overview
This was my senior capstone project, focused on multi-agent robot formation control. The project combined simulation, robotics software, localization, and physical robot integration.
Our goal was to develop and test decentralized formation-control behavior for multiple robots using artificial potential fields, algorithm-based simulation, and ROS 2 integration.
What I Worked On
The project involved both simulation and hardware-focused work, including:
- Decentralized formation-control logic
- Attraction and repulsion behavior
- Desired inter-agent spacing
- Centroid tracking
- Obstacle avoidance
- MATLAB/Simulink simulation
- ROS 2 integration
- SLAM/AMCL localization
- Odometry and IMU data
- EKF-based pose estimation
What I learned
This project taught me how different a system can feel once it moves from simulation into hardware. Even when the control logic makes sense mathematically, real robots introduce localization noise, communication constraints, sensor behavior, timing issues, and integration challenges.