Overview
A decentralised autonomous drone swarm for multi-scenario surveillance, built in ROS2 Humble with a custom PID controller, scenario detection, and a no-terminal GUI.
Details
Robotics Studio 1 (Spring 2025) · High Distinction
A fully autonomous drone swarm built in ROS2 Humble using C++ and Ignition Fortress. The end product features a GUI where no terminal commands are needed, drones operate autonomously and can be controlled individually or collectively, and a custom pinhole model accurately predicts the location of detected scenarios.
My Contributions
- Team lead: managed all task allocation and software via Jira and GitKraken
- Overall software architecture designed across multiple isolated packages (simulation, drone, GUI, perception)
- Custom URDF drone model equipped with two cameras, 2D LiDAR, and sonar
- Custom PID controller for accurate velocity control, each axis independently tuned
- Drone node handling all control logic including custom path-planning and obstacle avoidance
- GUI functionality via bash command dispatch, no terminal required for operation
- Node composition to optimise thread count and system performance
- Scenario detection and reaction system using custom ROS2 services and clients, scales to any number of scenarios
- Taught the team git best practices, clean architecture patterns, and scalable ROS2 development
Repositories: Robot · GUI · Perception · Environment