My university Bachelor's project (Electrical and Computer Engineering - Free University of Tbilisi).

Inspired by the neurally controlled microbot swarm in Big Hero 6, a small, self-organizing swarm of three hexagonal robots capable of collective movement and formation behavior.

Each robot features six VL53L0X time-of-flight sensors paired with infrared transceivers, giving it awareness of its neighbors in all directions. Built around an ESP32-S3 and a custom 4-layer PCB, each unit moves using three stepper motors with omni-wheels and communicates wirelessly over Wi-Fi through an MQTT-based network.

Without GPS or central control, the robots use only local distance data and simple behavioral rules to align, maintain spacing, and form geometric formations — demonstrating how complex, emergent behavior can arise from simple, decentralized systems.

A proof-of-concept exploration of how low-cost modular robots can act as a collective intelligence.