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Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
We study the planning and acting phase for the problem of multi-agent path finding (MAPF) in this paper. MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide…
This paper introduces CrazyChoir, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of functionalities to simulate and run experiments on teams of cooperating Crazyflie…
The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…
Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and…
Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, their distinct state spaces and control strategies complicate…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
We explore the reinforcement learning approach to designing controllers by extensively discussing the case of a quadcopter attitude controller. We provide all details allowing to reproduce our approach, starting with a model of the dynamics…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
The Crazyflie quadcopter is widely recognized as a leading platform for nano-quadcopter research. In early 2025, the Crazyflie Brushless was introduced, featuring brushless motors that provide around 50% more thrust compared to the brushed…
This paper presents a scalable decentralized multi agent framework that facilitates the exchange of information between computing units through computer networks. The architectural boundaries imposed by the tool make it suitable for…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
Multi-function swarms are swarms that solve multiple tasks at once. For example, a quadcopter swarm could be tasked with exploring an area of interest while simultaneously functioning as ad-hoc relays. With this type of multi-function comes…