Crazy-Swarm: Multi-agent Pathfinding with Crazyflie Quadcopters

  • Bachelor thesis, author Matouš Kulhan

A theoretical plan for quadcopter motion in a continuous 3D space is found using our developed variant of the CCBS algorithm for multi-agent pathfinding with continuous time (MAPFR). Subsequently, the plan is executed in a physical environment by miniature Crazyflie quadcopters. The quadcopters use the Loco Positioning localization system, which is used to monitor and control the correctness of the flight plan execution.

Thesis on DSPACE

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