About the Crazyflies

Crazyflie is a low-cost, personal quadcopter kit with open source software. Crazyflie was created by Tobias Antonsson and is now a co-founder of Bitcraze along side Arnaud Taffanel and Marcus Eliasson, Bitcraze was founded in November 2011.

In MURO lab, we currently have 20 Crazyflie 2.1's. Each bot consists of a quadcopter base equipped with motor controlers, IMU, and transmitter.

Each Crazyflie can be customized with a variety of decks. Currently, the lab has the following decks: LED-ring deck, Qi 1.2 charger deck, Flow deck v2, and Motion capture marker deck (to be used with the Vicon system)

A Linux based framework, Robotics Operating System 2 (ROS2), is used for robotics control. Currently, we use the control algorithms implemented in Crazyswarm 2.

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Applications

Crazyflies are used to verify our multi-agent control, path planning, reinforcement learning, estimation, and mapping algorithms' performance on hardware and for deployment demo to show our progress.

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Algorithms Implemented

TODO

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Experiments

TODO