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8. Conclusion
8.1 Summary
Formation Robots has completed the goals in which were established at the
beginning of the project. We have a working prototype of a formation of two robots with
one dimensional movement capabilities. The formation is able to avoid obstacles to a
certain degree and can operate fully autonomously if desired. UWB units have been
successfully used to maintain a given distance from robot to robot.
Although a lot of groundwork has established over the duration of the year, there
is still much that can be done to improve the system. Angle of arrival can be
implemented using UWB so that the formation can have three-dimensional capabilities.
There are many areas in which the system can be improved upon. However, the necessary
foundations have been laid for future research and design.
8.2 Contributions
Formation Robots is the first senior design project at Santa Clara University that
has explored the possibilities of formation control. We were able to successfully control
two robots in a one-dimensional formation. Some of these algorithms could be the
building blocks for future senior design projects.
Without the help of industry it would have been rather difficult to gain all of the
necessary equipment. Through working with Lockheed Martin, in particular Bob
Dougherty, we helped to strengthen a University-Industry relationship. The goal was to
share our findings with Lockheed Martin in return for the usage of their UWB
technology. As a result of the mutual endeavor, UWB technology will continue to be
integrated into the Santa Clara University Robotics Program.
8.3 Future Extensions
This project has a lot of potential for expansion. Logically, the next step for this
project is to implement the next generation of Ultra Wideband technology. The new
technology will have the capability to transmit the angle of arrival data that would allow
for two-dimensional control of the formation, as well as more complex formations. Once
the ability for two-dimensional control has been implemented, it will be possible to
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