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 recommended (VICON, OptiTrack, Qualisy are supported). We successfully flew 49 Crazyflies using three Crazyradios. An example video for what you can do is shown below:
The Crazyswarm architecture, including some motivation for the design decisions, is described in our paper [pdf].
A talk at the Aerial Swarms Workshop at IROS 2019 includes a primer on how to use the Crazyswarm and a bibliography of papers using the Crazyswarm: Slides [pdf].
If you use our work in academic research, please cite us:
@inproceedings{crazyswarm,
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}},
}
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.
Contents: