Controlling a Swarm of Crazyflies using Reynolds Rules and Consensus Protocol
Multi-Robot Systems
Collaborator(s): Atharva Patwe, Mohamed Khaled, David Ceres, Ariana Vađunec
Overview
In this project, we developed and implemented Reynolds’ rules, consensus-based rendezvous protocols, and consensus-based formation control for a swarm of Crazyflies operating in a controlled environment. To validate our approach, we first tested the developed algorithms in simulation using the Gazebo-based CrazySim platform, ensuring accurate modeling and performance evaluation. We then conducted extensive real-world experiments, demonstrating swarm behaviour and formation control with swarms of three and four Crazyflies. For a detailed overview of our methodology and findings, refer to the report.