Skip to main content
Open Access Publications from the University of California

UC Santa Cruz

UC Santa Cruz Previously Published Works bannerUC Santa Cruz

An open-source architecture for control and coordination of a swarm of micro-quadrotors

  • Author(s): Furci, M
  • Casadei, G
  • Naldi, R
  • Sanfelice, RG
  • Marconi, L
  • et al.

This work presents the design of an open-source control architecture specifically tailored to the rapid development and testing of control and coordination algorithms on micro quadrotors. The proposed design extends an existing open-source and open-hardware quadrotor project, i.e., the Crazyflie nano quadrotor, by adding the guidance, navigation and control layers required to accomplish autonomous flight. The control layer, in particular, is based on a cascade control algorithm able to globally stabilize the position and the attitude of the vehicle. The global property guaranteed by the algorithm allows the quadrotors to perform aggressive maneuvers. The guidance layer is designed to coordinate simultaneously multiple vehicles by generating suitable reference trajectories. Experiments demonstrate the effectiveness of the proposed design.

Many UC-authored scholarly publications are freely available on this site because of the UC's open access policies. Let us know how this access is important for you.

Main Content
Current View