About
The team behind this 2026 Senior Capstone project at Carleton College
About This Project
This is our 2026 Senior Capstone (Comps) project in the Computer Science department at Carleton College. Over two trimester terms, we researched, implemented, and compared five autonomous navigation algorithms on the TurtleBot4 robotic platform using ROS 2.
Our goal was to understand the practical trade-offs between classical graph-search planners (A*, D* Lite, JPS), reactive controllers (DWA), and hybrid stacks — evaluated in both simulated (Gazebo) and real-world maze environments.
Meet the Team
Oliver Black-Johnston
Team Member
Major: Studio Art, Computer Science
Focus area: Sculpture, Woodworking
Hometown: New York, NY
Devin Dennis
Team Member
Major: Computer Science
Focus area: Software Development
Hometown: Minneapolis, MN
Ngozi Raquel Emeka
Team Member
Major: Computer Science
Focus area: Software Engineering (Full-stack Development)
Hometown: Evanston, IL
Dexter Kong
Team Member
Major: Computer Science
Focus area: Database Systems and Data Engineering
Hometown: New York City, NY
Daniel Scheider
Team Member
Major: Computer Science
Focus area: Software Development, Regenerative Studies
Hometown: Claremont
Acknowledgements
We would like to thank our project advisors for their guidance, support, and feedback throughout the two trimester terms of this capstone project.
Chelsey Edge
COMPS Advisor — Computer Science, Carleton College
Mike Tie
Technical Advisor — Computer Science, Carleton College