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Crazyflie Drone Swarm

PythonROSPath PlanningIEEE CASE

Overview

Developed a decentralized coordination framework for a swarm of Crazyflie nano-drones.

Contributions

  • Implemented a velocity obstacle based collision avoidance algorithm in Python.
  • Optimized motor mixing algorithms to extend flight time by ~50%.
  • Integrated the system with ROS 2 for ground station monitoring.
  • Conducted real-world flight tests validating the swarm behavior.

The research was published at IEEE CASE 2024.