Cyber-Physical Robot Formation (2023)

Coordination system for 5 autonomous robots maintaining diamond or line formations while avoiding obstacles. Uses spline trajectories and Kalman filters for smooth motion and accurate state estimation. Developed in Matlab/Simulink at UTC.

Final grade: 18/20. Academic project at UTC (Université de Technologie de Compiègne), group of 3 students. Implemented formation control algorithms with spline-based path planning and Kalman filter state estimation for robust obstacle avoidance.

Authors: Ilian A2Z