01 · Overview
Overview
We competed in the Teknofest 2022 Swarm Robotics Competition as İLTER YAZILIM, the team of the Science, Idea and Art community. I served as software team lead and built the swarm controller software.
Teknofest 2022 · Finalist (6/10)
Swarm Robotics (İLTER YAZILIM)
Teknofest 2022 Swarm Robotics finalist. As software team lead, I built the swarm control algorithm coordinating nano-drones over ROS.
Highlights
- among 10 finalists
- 6.
- Role
- Software team lead · Swarm controller
- Period
- 2022
- Field
- UAV and drones · Autonomy, AI and vision
- Status
- Teknofest 2022 · Finalist (6/10)
Tech stack
- Python
- ROS
- Crazyflie 2.0
- Swarm / Sürü
- Multi-threading
02 · Solution
Swarm Control Architecture
The system ran on a ROS "Master–Slave" topology: the referee (Master) PC published obstacle and target positions as ROS topics, while our team software (Slave) published our drones' poses and listened to rivals' and obstacles' positions to compute collision-free swarm motion. I controlled Crazyflie 2.0 nano-quadcopters over Crazyradio PA in Python, running takeoff/landing and position commands concurrently by assigning a thread per drone.
03 · Solution
The Tasks
The competition had three tasks: obstacle avoidance, a cargo-carrying race against a rival swarm (collision avoidance via shared poses), and a mixed-swarm fire-extinguishing task together with a ground robot.
04 · Result
Outputs & Results
We placed 6th among the 10 finalist teams. I built swarm control software that coordinates multiple autonomous aerial vehicles in real time, collision-free — reaching the finals on our first swarm-robotics attempt.
ROS Master–Slave Architecture
- L1Referee (Master · HAVELSAN)
- roscore
- Obstacle & target positions
- ROS topic publishing
- L2Team Software (Slave · Python)
- Pose publish/listen
- Collision avoidance
- Swarm algorithm
- L3Swarm Hardware
- Crazyflie 2.0
- Crazyradio PA
- PID stabilization
Swarm Simulation
Gallery
Building a robot/drone swarm system?
I can develop the ROS-based swarm control that coordinates multiple vehicles in real time, collision-free.
For example:ROS swarm controlCollision-free coordinationMulti-drone synchronization
- Outcome of this project
- Finalist (6th / 10 teams)
- First step
- Discovery & Feasibility — Free
- Requirements analysis · Technical roadmap · Rough plan and proposal document. Discovery and feasibility are free. The price and timeline of the project itself depend on its scope and come as a firm quote at the end of that work.
I'll build the same for you
Tell the assistant what you need — we will talk through whether I can build something like this, the approach and the free first step right away, and it books a time that suits you.
Book a free discovery call- Free 30-minute discovery call
- Developer of the Teknofest 2021 champion UAV software
- From a single consult to end-to-end delivery
Related projects
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Teknofest 2021 · Turkey ChampionKAPGAN Combat UAVNational champion and winner of the "Most Original Software" award at Teknofest 2021 Combat UAV Competition — I was the sole developer of all three software units.
Teknofest 2022 · Finalist (9th)Armed Autonomous Strike UAVTeknofest 2022 TÜBİTAK Open-Mission UAV finalist: a hexacopter that runs the entire mission — from takeoff to strike — autonomously. I coded its "brain", the main management unit.