Milestone 4

4.1 Optimization

• Optimizations were made to reduce costs while maintaining all the necessary parts for a functioning robotic swarm that can be used for research in the field of cooperating autonomous robots and for teaching college level classes in robotics swarms. This makes MOSS the most affordable robotics swarm kit on the market

• Another factor that was optimized is the the time to set up new robots. The MOSS kit has a single-download software package that works out of the box which is combined with an easy to assemble hardware kit that contains everything you will need to build your own swarm robot

• The robots were also optimized for a low weight, for ease of transportation and to reduce the necessity for more powerful motors 

4.2 Delivery

4.3 Management

The management of this project was mainly divided according to the following, however all team members worked as a team and assisted in other areas of the project.

• Luisa Bonfim: AprilTag Distance Calculation

• Benjamin Mirisola: IMU Integration

• Cameron Murphy: Cad Design, PID Control

• Kevin ward: Gazebo Swarm Simulation