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Crazyswarm: A large nano-quadcopter swarm
Abstract
We define a system architecture for a large swarm of miniature quadcopters flying in dense formation indoors. The large number of small vehicles motivates novel design choices for state estimation and communication. For state estimation, we develop a method to reliably track many small rigid bodies with identical motion-capture marker arrangements. Our communication infrastructure uses compressed one-way data flow and supports a large number of vehicles per radio. We achieve reliable flight with accurate tracking (<; 2 cm mean position error) by implementing the majority of computation onboard, including sensor fusion, control, and some trajectory planning. We provide various examples and empirically determine latency and tracking performance for swarms with up to 49 vehicles.
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Cited by
Trajectory Planning for Quadrotor Swarms
Honig, W., Preiss, J. A., Kumar, T. K. S., Sukhatme, G. S., & Ayanian, N. (2018) · IEEE Transactions on Robotics · doi:10.1109/tro.2018.2853613 · Cited by 315
Self-citationCrazyflie 2.0 quadrotor as a platform for research and education in robotics and control engineering
Giernacki, W., Skwierczynski, M., Witwicki, W., Wronski, P., & Kozierski, P. (2017) · 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) · doi:10.1109/mmar.2017.8046794 · Cited by 235
SwarmGPT: Combining Large Language Models With Safe Motion Planning for Drone Swarm Choreography
Schuck, M., Dahanaggamaarachchi, D. O., Sprenger, B., Vyas, V., Zhou, S., & Schoellig, A. P. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3619745 · Cited by 18
Fast and In Sync: Periodic Swarm Patterns for Quadrotors
Du, X., Luis, C. E., Vukosavljev, M., & Schoellig, A. P. (2019) · 2019 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2019.8794017 · Cited by 18
Metadata
- Authors
- Preiss, J. A., Honig, W., Sukhatme, G. S., & Ayanian, N.
- Venue
- 2017 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2017-05
- Pages
- 3299-3304
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2600080636
- Cited by
- 424
- References
- 0
- FWCI
- 22.36
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Preiss, J. A., Honig, W., Sukhatme, G. S., & Ayanian, N. (2017). Crazyswarm: A large nano-quadcopter swarm. 2017 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2017.7989376
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