Omnidirectional multi-agent swarm control system with TinyMPC

[Donvitojnr]

Using TinyMPC and ROS, I have created a scalable swarm controller for uses in learning and teaching as part of my capstone project for my degree. Five agents were created to move in unison, and perform agent avoidance actions, all powered by TinyMPC. There was some significant features implemented into the TinyMPC source code to enable this system to work, which I'm happy to share if helpful. This was fully embedded on a Raspberry Pi Pico v2 using WIFI capabilities to communicate via MicroROS and ROS2 Jazzy.

I can also provide some details on bugs encountered in the TINYMPC framework, which were highlighted through the development of these agents.

Videos for two separate formations can be found below:
Multi-agent avoidance and formation synchronization: https://www.youtube.com/watch?v=SfeRsIEjTaI
Multi-agent formation control: https://www.youtube.com/shorts/xTIK4_zIXpY

[xkhainguyen]

Fascinating! This is exactly what we hoped our TinyMPC work could enable from day one. We’d love to hear more details about your work. Could you send an email to khain at mit.edu? I’ll circulate it among the other developers for further engagement.

[plancherb1]

Ah amazing! Also if you want to submit some PRs for bug fixes please please do! We've been working up firmware updates and general maintenance but have a very small all volunteer team and so deeply appreciate any community contributions! @Donvitojnr