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<!DOCTYPE html>
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<title>Crazyswarm : ACT Lab</title>
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<h1 class="page-header">Crazyswarm
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<li class="active">Crazyswarm</li>
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<h3>Description</h3>
<p>
The Crazyswarm is a swarm of miniature quadcopters (Crazyflie 2.0) that can fly together in close proximity. Our approach has the goal to make research in multi-robot systems safer, cheaper, and easier to reproduce. The Crazyswarm has the following features (amongst others):
<ul>
<li>Safe operation near humans</li>
<li>Small footprint allows to fly many vehicles in small lab spaces</li>
<li>Good crash resistance because of low inertia</li>
<li>Fully open-source</li>
<li>Off-the-shelf hardware</li>
</ul>
The system currently requires a motion capture system (e.g. VICON, OptiTrack, or PhaseSpace).
</p>
<p>
More information, including tutorials on how to setup the Crazyswarm, can be found on its <a href="http://crazyswarm.readthedocs.io/en/latest/">webpage</a>.
A video demonstrating the swarms' capabilities is shown below.
</p>
<p>
<div align="center" class="embed-responsive embed-responsive-16by9">
<iframe
src="https://www.youtube.com/embed/D0CrjoYDt9w">
</iframe>
</div>
</p>
<p>
We used the Crazyswarm to experimentally validate our trajectory planning approach for large quadrotor teams (see related publications below). In the future, we are looking at other applications, including distributed algorithms.
</p>
<h3>Investigators</h3>
<p>
In collaboration with the <a href="http://robotics.usc.edu/resl/">Robotic Embedded Systems Laboratory</a> (RESL).
</p>
<ul>
<li>Wolfgang Hönig (Summer 2016 - )</li>
<li>James Preiss (RESL) (Summer 2016 - )</li>
<li>Gaurav Sukhatme (RESL) (Summer 2016 - )</li>
<li>Nora Ayanian (Summer 2016 - )</li>
<li>Daniel Lytle (Fall 2016 - )</li>
<li>Trevor Nielsen (Fall 2016 - )</li>
<li>Eric Yi Han Chen (Fall 2016 - )</li>
<li>Alex Colello (Fall 2017 - )</li>
<li>Barbara Boyajian (Fall 2017 - )</li>
<li>Jillian Khoo (Fall 2017 - )</li>
<li>Minzhi Xue (Fall 2015 - Spring 2016)</li>
<li>Chotiwat Chawannakul (Summer 2016 - Summer 2017)</li>
</ul>
<h3>Related Publications</h3>
<ul>
<li>
<strong>M. Debord</strong>, <strong>W. Hönig</strong>, and <strong>N. Ayanian</strong>.
"Trajectory Planning for Heterogeneous Robot Teams",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
<br>
[
<a href="publications/Debord_IROS2018.pdf">PDF Preprint</a>,
<a href="http://youtu.be/OzXUV4GQ7Qs">Video</a>,
<a href="https://www.bitcraze.io/2018/04/heterogeneous-trajectory-planning-with-crazyflie-and-bigquad-deck/">Blog Post</a>
]
</li>
<li>
<strong>M. Debord</strong>, <strong>W. Hönig</strong>, and <strong>N. Ayanian</strong>.
"Trajectory Planning for Heterogeneous Robot Teams",
in 2nd International Symposium on Aerial Robotics (ISAR), Philadelphia, USA, June 2018.
<br>
[
<a href="publications/Debord_ISAR2018.pdf">PDF Preprint</a>,
<a href="https://youtu.be/OzXUV4GQ7Qs">Video</a>
]
</li>
<li>
<strong>W. Hönig</strong>, J. A. Preiss, T. K. S. Kumar, G. S. Sukhatme, and <strong>N. Ayanian</strong>.
"Trajectory Planning for Quadrotor Swarms",
in IEEE Transactions on Robotics (T-RO), Special Issue Aerial Swarm Robotics. To Appear.
<br>
[
<a href="publications/Hoenig_TRO2018.pdf">PDF Preprint</a>,
<a href="http://youtu.be/7KIa9FlmbRc">Video</a>
]
</li>
<li>
J. A. Preiss, <strong>W. Hönig</strong>, G. S. Sukhatme, and <strong>N. Ayanian</strong>.
"Downwash-Aware Trajectory Planning for Large Quadrotor Teams",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 2017.
<br>
[
<a href="publications/Preiss_IROS2017.pdf">PDF Preprint</a>,
<a href="http://youtu.be/YnGZ-arUwgc">Video</a>
]
</li>
<li>
J. A. Preiss, <strong>W. Hönig</strong>, G. S. Sukhatme, and <strong>N. Ayanian</strong>.
"Downwash-Aware Trajectory Planning for Quadrotor Swarms",
in International Symposium on Aerial Robotics, Philadelphia, PA, USA, June 2017.
<br>
[
<a href="publications/Preiss_ISAR2017.pdf">PDF Preprint</a>
]
</li>
<li>
J. A. Preiss, <strong>W. Hönig</strong>, G. S. Sukhatme, and <strong>N. Ayanian</strong>.
"Downwash-Aware Trajectory Planning for Large Quadcopter Teams",
in Southern California Robotics Symposium (SCR), Los Angeles, CA, April 2017.
<br>
[
<a href="publications/Preiss_SCR2017.pdf">PDF Preprint</a>
]
</li>
<li>
J. A. Preiss*, <strong>W. Hönig*</strong>, G. S. Sukhatme, and <strong>N. Ayanian</strong>.
"Crazyswarm: A Large Nano-Quadcopter Swarm",
in Proc. IEEE International Conference on Robotics and Automation, Singapore, 2017.
<br>
[
<a href="publications/Preiss_ICRA2017.pdf">PDF Preprint</a>,
<a href="http://youtu.be/D0CrjoYDt9w">Video</a>
]
</li>
<li>
J. A. Preiss*, <strong>W. Hönig*</strong>, G. S. Sukhatme, and <strong>N. Ayanian</strong>.
"Crazyswarm: A Large Nano-Quadcopter Swarm (Extended Abstract)",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Late Breaking), Daejeon, Korea, October 2016.
<br>
[
<a href="publications/Preiss_IROSLateBreaking2016.pdf">PDF Preprint</a>,
<a href="http://youtu.be/ezTayb76x9U">Video</a>
]
</li>
</ul>
<h3>Media Coverage</h3>
<ul>
<li>
<a href="https://www.usatoday.com/story/tech/talkingtech/2017/03/31/you-can-teach-drones-fly-together-just-ask-their-instructor/99848778/">USA Today</a>
</li>
</ul>
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