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.