Decentralized multi-drone formation control with obstacle avoidance in ROS 2 Jazzy / Gazebo Harmonic

Executive Summary

I’ve recently been working on a project called Flockwork, an open-source decentralized drone swarm controller in ROS 2 Jazzy and Gazebo Harmonic. Instead of leaning on PX4/ArduPilot, the whole control stack is written from scratch in C++. For context each drone runs its own controller, so it holds a formation slot relative to its neighbors, and avoids obstacles without stalling. I really had fun working on this project and learning how to handle implementation.

Autonomous Robotics & Open Science Engineering Review

From a robotics middleware, real-time operating system (RTOS), and scientific rigor perspective: - **Deterministic Latency:** Zero-copy DDS transport layers ensure real-time actuation safety in autonomous robotics. - **Reproducible Computation:** Transparent, open-source scientific algorithms allow global peer verification without black-box bias. - **Modular Composition:** Micro-ROS and modular sensor interfaces permit seamless hardware adaptation across diverse physical platforms.

Impact on the Open Ecosystem

Fosters an open, verifiable technological commons for next-generation robotics, space exploration, and scientific discovery.