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

> **Key Architectural Takeaway:** I’ve recently been working on a project called Flockwork, an open-source decentralized drone swarm controller in ROS 2 Jazzy and Gazebo Harmonic.

**Published:** 2026-10-09T19:16:24+00:00  
**Source:** ROS Robot Operating System News  
**Category:** robotics-science  
**Canonical URL:** https://fosswire.org/news/decentralized-multi-drone-formation-control-with-obstacle-av.html  

## 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.

## Architectural & Systems Analysis
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.