CST499
Computer Science Capstone
GG Swarm — GNN-based drone swarm coordination
Computer Science Capstone provided the culminating experience of integrating my entire academic journey into a final project that solves a real-world problem. This experience involves exploring the problem space, developing technical specifications, and managing the full design-to-development cycle in a collaborative environment. The capstone was more than just a final project; it was the bridge between being a student and becoming a full-fledged engineer ready for the industry. I am now continuing this work by moving from simulation to hardware.
Work from this course
9 entries-
2026-04-24 #ggswarm
Week 16 — Capstone Festival, Program Complete
Last entry. Capstone Festival is today, portfolio and Learning Journal are submitted, and v1.0.0-capstone is tagged. CSUMB is done. -
2026-04-21 #ggswarm
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 GI... -
2026-04-14 #ggswarm
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 —... -
2026-04-07 #ggswarm
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. -
2026-03-31 #ggswarm
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. -
2026-03-24 #ggswarm
Week 11 — Phase 2 Complete, Formation Control Achieved
Completed Phase 2 — drones can now maintain stability and hold formation distance from each other. -
2026-03-17 #ggswarm
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. -
2026-03-10 #ggswarm
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. -
2026-02-11 #ggswarm
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 G...