Autonomous Pick and Place Behavior with a Robotic Manipulator

The objective of this experiment was to use multiple Flockbots to solve sokoban puzzles in parallel (a multibody simulation with a central planner). The simulation takes place an 8x7 grid that we constructed. Each grid space has a QR code in it for localization. There are three main components to solving the problem: the centralized planner, which finds a solution to the puzzle and coordinates Flockbot movements, the birds eye camera, which tracks the location of boxes, obstacles, and goals, and the Flockbots themselves, which push boxes and use QR codes for localization.