Last entry. Capstone Festival is today, portfolio and Learning Journal
are submitted, and v1.0.0-capstone is tagged. CSUMB is done.
CST489: Capstone Project Planning
Capstone Project Planning provided the space to draft a comprehensive proposal for my senior capstone, focusing on project planning, collaboration, and professional communication skills. I worked closely with my advisor to define a substantial technical challenge and outline a roadmap for its successful design and implementation. Planning isn’t just a precursor to building—it’s the foundation that prevents a project from collapsing under its own weight.
Related Projects
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2026-04-24
Week 16 — Capstone Festival, Program Complete
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2026-04-21
Week 15 — Project Wrapped, Testing Report Locked, Draft Presentation Cut
Project wrapped for the Capstone Festival. Testing Report closed out, draft presentation video recorded against the Phase 5 cinematic clips, and the README got a final polish including an embedded 8-drone highlight GIF. 3 days remain to the Apr 24 deadline — remaining work is rehearsal, portfolio/journal submission, and the
v1.0.0-capstonetag. -
2026-04-14
Week 14 — Phase 5 Complete, Phase 6 in Flight, Thesis Clarified
Phase 5 done 12 days ahead of the M4 gate, Phase 6 underway. The cinematic trailer was edited from the 20 captured clips and published to YouTube early in the week. The back half shifted to documentation and framing — making the research question explicit: coordination, not stabilization. 10 days remain to the Apr 24 deadline. No training is planned; only editing, rehearsal, and submission remain.
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2026-04-07
Week 13 — Phase 4 Complete, Showcase Prep Begins 7 Days Early
Forest navigation now works cleanly — 0 body penetrations in 700-step play with 8 drones weaving through 40cm tree trunks. Phase 4 is complete and Phase 5 (Showcase Prep) starts 7 days early.
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2026-03-31
Week 12 — Phase 3 Complete, 9 Days Early
Rebuilt Phase 2 from scratch, achieved formation control in a single session, then blew through Phase 3 — finishing 9 days ahead of schedule.
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2026-03-24
Week 11 — Phase 2 Complete, Formation Control Achieved
Completed Phase 2 — drones can now maintain stability and hold formation distance from each other.
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2026-03-17
Week 10 — MAPPO Training Pipeline and Environment Finalization
Finalized the MARL environment, set up the MAPPO training pipeline, and replanned the schedule after falling ~2 weeks behind.
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2026-03-10
Week 9 — Isaac Lab Integration and Brain Development
Set up the Isaac Lab development environment locally and got my first Crazyflie drone running in simulation — laying the groundwork for multi-agent training.
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2026-02-11
Project Launch: GG Swarm - Decentralized UAV Coordination
This post introduces the GG Swarm capstone project, a decentralized coordination framework designed to overcome the single point of failure and high latency of centralized control in large UAV swarms. By integrating Graph Neural Networks (GNNs) for spatial reasoning with advanced Minimum Control (MINCO) trajectory optimization, the system achieves robust, fault-tolerant behavior for high-stakes applications.