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:

  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.


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