相关论文: An ARGoS plug-in for the Crazyflie drone
This work provides an extension of Ardupilot's capabilities to allow researchers to develop swarm robotics applications in Robot Operating System(ROS)/Gazebo simulations. Ardupilot is a tool used for autopilot functions in autonomous air,…
Simulation frameworks are essential for the safe development of robotic applications. However, different components of a robotic system are often best simulated in different environments, making full integration challenging. This is…
This paper presents a novel autonomous drone-based smoke plume tracking system capable of navigating and tracking plumes in highly unsteady atmospheric conditions. The system integrates advanced hardware and software and a comprehensive…
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…
Nano-quadcopters are versatile platforms attracting the interest of both academia and industry. Their tiny form factor, i.e., $\,$10 cm diameter, makes them particularly useful in narrow scenarios and harmless in human proximity. However,…
This paper introduces a safe swarm of drones capable of performing landings in crowded environments robustly by relying on Reinforcement Learning techniques combined with Safe Learning. The developed system allows us to teach the swarm of…
As the space domain becomes increasingly congested, autonomy is proposed as one approach to enable small numbers of human ground operators to manage large constellations of satellites and tackle more complex missions such as on-orbit or…
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…
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…
Developing and testing novel control and motion planning algorithms for aerial vehicles can be a challenging task, with the robotics community relying more than ever on 3D simulation technologies to evaluate the performance of new…
Low-cost mini-drones with advanced sensing and maneuverability enable a new class of intelligent sensing systems. To achieve the full potential of such drones, it is necessary to develop new enhanced formulations of both common and emerging…
We present a demonstration of service-based trajectory planning for a drone delivery system in a multi-drone skyway network. We conduct several experiments using Crazyflie drones to collect the drone's position data, wind speed and…
Unmanned Aerial Vehicle (UAV) swarms offer versatile applications in logistics, agriculture, and surveillance, yet controlling them requires expert knowledge for safety and feasibility. Traditional static methods limit adaptability, while…
Drones are becoming a novel means for delivery services. We present a demonstration of drone delivery services in a skyway network that uses the service paradigm. A set of experiments is conducted using Crazyflie drones to collect the data…
We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control in a dynamic drone racing scenario. Central to our approach is the Attention Model-Based Control Barrier Function (CBF) framework, which…
In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
In recent years, the field of aerial robotics has witnessed significant progress, finding applications in diverse domains, including post-disaster search and rescue operations. Despite these strides, the prohibitive acquisition costs…
Autonomous nano-drones, powered by vision-based tiny machine learning (TinyML) models, are a novel technology gaining momentum thanks to their broad applicability and pushing scientific advancement on resource-limited embedded systems.…
We propose a 3D simulator tailored for the Drone-as-a-Service framework. The simulator enables employing dynamic algorithms for addressing realistic delivery scenarios. We present the simulator's architectural design and its use of an…