Welcome to Crazyswarm’s documentation!

The Crazyswarm projects allows you to fly a swarm of quadcopters (using Bitcraze Crazyflie 2.0 directly or as control boards) in tight, synchronized formations. A motion capture system is required (VICON, OptiTrack, PhaseSpace are supported). We successfully flew 49 Crazyflies using three Crazyradios. An example video for what you can do is shown below:

Our contributed code is licensed under the permissive MIT license, however some of the parts (such as the firmware) are licensed under their respective license.

The Crazyswarm architecture, including some motivation for the design decisions, is described in our paper [pdf]. If you use our work in academic research, please cite us:

  author    = {James A. Preiss* and
               Wolfgang  H\"onig* and
               Gaurav S. Sukhatme and
               Nora Ayanian},
  title     = {Crazyswarm: {A} large nano-quadcopter swarm},
  booktitle = {{IEEE} International Conference on Robotics and Automation ({ICRA})},
  pages     = {3299--3304},
  publisher = {{IEEE}},
  year      = {2017},
  url       = {https://doi.org/10.1109/ICRA.2017.7989376},
  doi       = {10.1109/ICRA.2017.7989376},
  note      = {Software available at \url{https://github.com/USC-ACTLab/crazyswarm}},


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