Centralised Intelligence for Dynamic Swarm Navigation
Multi-agent path planning that keeps a robot swarm collision-free around moving obstacles.
- Period
- November–December 2024
- Kind
- hackathon
- Stack
- ROS2 Humble, Gazebo, Python, NMPC
Built for Inter IIT Tech Meet 13.0, where it placed 3rd in the problem statement and 2nd overall.
- A custom DBSCAN clustering algorithm for low-latency detection of dynamic obstacles.
- Conflict-Based Search and Non-linear Model Predictive Control fed from that detection, generating collision-free paths for multiple agents at once.
- Validated on multi-bot ROS2 Humble and Gazebo simulations, tuned to optimise task priority and total execution time.