On March 3, 2025, the Center for Scientific Innovation and Education hosted another successful seminar in our Student Seminar Series. This session featured Lusine Barseghyan, a research intern at CSIE, who presented her innovative work on Multi-Agent Control of TurtleBot3.

Project Overview

This research focused on implementing a distributed multi-TurtleBot control system with the following key objectives:

✔️Creating effective communication between multiple robots

✔️Implementing the entire system using a single ROS2 node

✔️Designing a leader-follower system with robust navigation capabilities

Implementation

The project utilized Model Predictive Control (MPC) for coordinating two TurtleBot3 robots in a leader-follower configuration.

The system architecture was built on ROS2 with a distributed approach that enhances:

✔️Scalability

✔️Robustness

✔️Adaptability in dynamic environments

Results

Speaker Lusine Barseghyan demonstrated the system's performance in both simulated environments (using Gazebo) and real-world scenarios. The presentation showed successful implementation of multi-robot coordination with effective collision avoidance and smooth motion control.