A ROS2-based decentralized framework for ergodic multi-robot path tracking using TurtleBot4 Lite and Standard platforms integrated with Fast-DDS networking, adaptive planners, and AMCL-based SLAM to enable synchronized multi-agent navigation and coordination in simulation.
A distributed iLQR-based optimal control framework for TurtleBot4 convoys, enabling real-time adaptive spacing, scalable decentralized coordination, and stable multi-robot trajectory tracking using ROS2 and Gazebo simulation.