Robots
5 TurtleBots
Success Rate
99%
Scenarios
10 validated
System ArchitectureINTERACTIVE_DIAGRAM
Summary
Centralized ROS2 autonomy stack in Gazebo for 5 TurtleBots. Hungarian task assignment and A* motion planning with costmap-based collision avoidance. Validated across 10 scenarios with 99% mission success.
task_allocator.pyschema
def allocate(robots, tasks):
C = build_cost_matrix(
robots, tasks
)
assign = hungarian(C)
for r, t in assign:
plan_path(r, t, costmap)videocamProject Demo
VIDEO