Ad Hoc Localization Network
For this project, I generated an global coordinate system by having a number of static robots communicate with their neighbors.
I then smoothed this coordinate using an approximation method from Ragpal et. al 1, and had certain robots
turn on their onboard LED based on their position in this coordinate system to form the Northwestern N. This method requires
no global communication or sensor to create the coordinate. It works by having two arbitrary seed robots send out "hop counts" and
incrementing these hop counts through the rest of the swarm. As a result, it is fully decentralized and scalable to much larger swarms.