This paper presents the Crazyflie 2.0 nano-quadrotor as a cheap, open-source and expandable platform for teaching and research. It describes three tools: freely available “black-box” software that logs measurements from test flights, the 4FLY simulator for building Crazyflie models and controllers in MATLAB/Simulink with OpenGL visualisation, and preliminary results on steering the drone with a pointing device and a single Kinect sensor. I only saw the abstract and bibliographic record.
Findings
- 4FLY supports testing autonomous flights and landings with obstacle avoidance, and practising basic piloting.
- Vision-based control with one Kinect is reported as preliminary and promising (abstract; no numbers seen).
Limits
- Not verified beyond the abstract. The paper is a platform description, so expect little quantitative evaluation.
Relevance
The paper usually cited for the vehicle behind most indoor aerial swarm work, including Crazyswarm.
Links
- DOI
- Subfield: Field robotics, Multi-robot systems