I built three decentralized robot controllers as a part of Northwestern University’s Swarms and Multi-Robot Systems (MECH_ENG 409) course to learn more about the state of the art research that addresses the challenges of controlling large groups of robots. See my portfolio for a detailed description of these three projects.
- First install Docker Desktop
- Clone my GitHub repository to your preferred directory
git clone https://github.com/billyen33/Swarm_Robotics_Projects.git
- Open up two command prompt windows on your computer (make sure you run them as administrator)
- On the first command prompt window, go to the directory where you saved the project you want to run (the localization project, for example)
cd MyFolder/Swarm_Robotics_Project/localization
- Go to the start.txt file in the project you want to run and copy the command there, paste it into the terminal, and press enter
- Open Docker Desktop, go to Container, then click on the "Open in Browser" browser in the side pop-up menu
- The Docker simulation should show up on your browser as a new window in a few seconds, enjoy!
- To stop the simulation (or to rerun it in case of a connection error), go to the second command prompt and enter in the following command:
docker rm -f cs-local
- Shape Formation in Homogeneous Swarms Using Local Task Swapping
- Organizing a Global Coordinate System from Local Information on an Ad Hoc Sensor Network
- Segregation in swarms of mobile robots based on the Brazil nut effect
- Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate