Crazyswarm

Description

We develop a system architecture for a large swarm of miniature quadcopters (Crazyflie 2.0). We investigate onboard planning, control, state estimation, communications, and a method for motion-capture localization using identical marker arrangements. We validate the system with a 49-vehicle formation flight.

Investigators

In collaboration with the Robotic Embedded Systems Laboratory (RESL).

  • Wolfgang Hönig
  • James Preiss (RESL)
  • Gaurav Sukhatme (RESL)
  • Minzhi Xue
  • Chotiwat Chawannakul
  • Nora Ayanian

Related Publications

  • J. A. Preiss, W. Hönig, G. S. Sukhatme, and N. Ayanian. "Crazyswarm: A Large Nano-Quadcopter Swarm", in Proc. IEEE International Conference on Robotics and Automation, 2017. Accepted, to appear.
    [ PDF Preprint, Video ]
  • J. A. Preiss, W. Hönig, G. S. Sukhatme, and N. Ayanian. "Crazyswarm: A Large Nano-Quadcopter Swarm (Extended Abstract)", in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (Late Breaking), 2016. Accepted, to appear.
    [ PDF Preprint, Video ]