In just about 2 weeks, it’s ICRA 2023, which, as you could guess from the title of the post, is in London. The ExCel venue will welcome the world’s top academics, researchers, and industry representatives from May 29 to June 2nd, and that’s something we don’t want to miss.
ICRA is a conference that we hold dear and attended quite a few times – whether in person or online. We’ll be holding a booth there so don’t hesitate to pass by to say hello and see our demo!
We will be using the same demo as the one from IROS 2022; a fully decentralized swarm with the Lighthouse system. What we changed is that now we will be using the Crazyradio 2.0. We’re working on updating the demo and seeing what can be improved in the time we have before the conference. As a bonus, we plan to bring some prototypes and surprises; just to show off all the work we’ve been doing since our last conference in Japan. We will also have Matej Karasek, our partner from Flapper Drones with us in the booth! A good occasion to see his Nimble + in action and ask him all your questions.
Additionally, on Friday afternoon there will be a half-day workshop called ‘The Role of Robotics Simulators for Unmanned Aerial Vehicles’ that we helped organized. This workshop gathers researchers who have struggled to find, customize, or design a robotic simulator for their own purposes or specific application; so don’t hesitate to join if you’ve worked (or plan to) with drone simulation. All the information are here, be sure to sign up for it at your ICRA registration if you’re interested. It can also be attended by a stream by signing up for the virtual ICRA conference.
So we hope to see you in London, at booth H10 for good discussions, interesting conversations, and eventually a cup of tea!
We are excited to announce that we will be having developer meetings on first Wednesdays of every month! Additionally, we are thrilled to be present in person at ICRA 2023 in London. During the same conference, there will be half day workshop called ‘The Role of Robotics Simulators for Unmanned Aerial Vehicles’ so make sure to sign-up! Please check out our newly updated event-page !
Monthly Developer meetings
We have had some online developer meetings in the past covering various topics. While these meetings may not have been the most popular, we believe it is crucial to maintain communication with the community and have interesting discussions, and exchange of ideas. However, we used to plan them ad-hoc and we had no regularity in them, which sometimes caused some of us **cough** especially me **cough**, to create confusion about the timing and location. To remove these factors of templexia (dyslexia for time), we will just have it simply on the first Wednesday of every month.
So our first one with be on Wednesday 5th of April at 15:00 CEST and the information about the particular developer meeting will be as usual on discussions. From 15:00 – 15:30 it will be a general discussion, probably with a short presentation, about a topic to be determined. From 15:30-16:00 will address regular support question from anybody that need help with their work on the Crazyflie.
ICRA 2023 London
ICRA will be held in London this year, from May 29 – June 2nd, atthe ExCel venue. We will be located in the H11 booth in the exhibitor hall, but as the date approaches, we will share more about what awesome prototypes we will showcase and what we will demonstrate on-site. Rest assured, plenty of Crazyflies will be flown in the cage! To get an idea of what we demo-ed last year it IROS Kyoto, please check out the IROS 2022 event page. Matej from Flapper Drones will join us at our booth to showcase the Flapper drone.
We are thinking of organizing a meetup for participants on the Wednesday after the Conference Dinner, so we will share the details of that in the near future as well. Also keep an eye on our ICRA 2023 event page for updated information.
Additionally, participants can submit an extended abstract to be invited for an poster presentation during the same workshop. The submission deadline has been extended to April 3rd, so for more information about submission, schedule and speaker info, go to the workshop’s website.
This week’s guest blogpost is from Florian Goralsky from Bok o Bok about their dance piece with multiple Crazyflies. Enjoy!
Flying bodies across the fields is a contemporary dance piece for four performers and a swarm of drones, exploring the phenomenon of the disappearance of bees and the use of pollinating drones to compensate for this loss. The piece attempts to answer this crucial question in a poetical way: can the machine create life and save us from ecological disaster?
We’re super excited to talk about a performance that we’ve been working on for the past two years in collaboration with Bitcraze. It premiered at the Environmental Forum, Centre Pompidou Paris, in 2021, and we’ve had the opportunity to showcase it at different venues since then. We are happy to share our thoughts about it!
Choreographic research
Beyond symbolizing current attempts to use drones to pollinate fields, the presence of the Crazyflie drones, supports the back and forth between nature and technology. We integrate a swarm, performing complex choreographies, which refer to the functioning of a beehive, including the famous “bee dance”, discovered by Karl von Frisch, which is used to transmit information on the food sources. Far from having a spectacular performance as its only goal, the synchronization of autonomous drones highlights bio-inspired computer techniques, focused on collective intelligence.
Making a dance performance with drones needs a high accuracy and adaptability, both before and during the show. Usually, we only have a few hours, sometimes even a few minutes, to setup the system according to the space. We quickly realized we needed pre-recorded choreographies, and hybrid choreographies where the pilot could have a few degrees of freedom on pre-defined behaviors.
GUI Editor + Python Server
Taking this into account, we developed a web GUI editor, that is able to send choreographies created with any device to a Websocket Python server. The system supports any absolute positioning system (We use the Lighthouse), and then converts all the setpoints and actions to the Crazyflie API HighLevelCommander class. This system allows us to create, update, and test complex choreographies in a few minutes on various devices.
Preview position of six drones at a certain time.Early support of the CompressedTrajectories format, with Cubic bezier curves.
What is next?
We are looking forward to developing more dancers-drones interactions in the future. It will imply, in addition to the Lighthouse system, other sensors, in order to open up new possibilities: realtime path-finding, obstacle avoidance even during a recorded choreography (to allow improvisation), etc.
It’s time for a new compilation video about how the Crazyflie is used in research ! The last one featured already a lot of awesome work, but a lot happened since then, both in research and at Bitcraze.
As usual, the hardest about making those videos is choosing the works we want to feature – if every cool video of the Crazyflie was in there, it would last for hours! So it’s just a selection of the most videogenic projects we’ve seen. You can find a more extensive list of our products used in research here.
We’ve seen a lot of projects that used the modularity of the Crazyflie to create awesome new features, like a catenary robot, some wall tracking or having it land upside down. The Crazyflie board was even made into a revolving wing drone. New sensors were used, to sniff out gas leaks (the Sniffy bug as seen in this blogpost), or to allow autonomous navigation. Swarms are also a research topic where we see a lot of the Crazyflie, this time for collision avoidance, or path planning. We also see more and more of simulators, which are used for huge swarms or physics tests.
Once again, we were surprised and awed by all the awesome things that the community did with the Crazyflie. Hopefully, this will inspire others to think of new things to do as well. We hope that we can continue with helping you to make your ideas fly, and don’t hesitate to share with us the awesome projects you’re working on!
Here is a list of all the research that has been included in the video:
As already announced in a previous blog post, we have been working on a replacement for the Crazyradio PA. Crazyradio is the USB dongle used to communicate with Crazyflie 2.1, Crazyflie Bolt and any other 2.4GHz radio board we are making. We are also visiting FOSDEM in Brussels at the end of the week and will organize a community dev-meeting about Crazyradio and communication end of February: more on that at the end of the post.
Crazyradio 2.0 will have the following characteristics:
Based on the nordic-semiconductor nRF52840
64MHz Cortex-M4
1024KB flash, 256KB ram
Radio supporting Nordic protocol, Bluetooth low energy as well as IEEE802.15.4
1Mbps and 2Mbsp bitrate to Crazyflie
USB full speed (12Mbps) device
Radio power amplifier providing up to +20dBm output power
‘Drag and drop’ bootloader with physical button to start in bootloader mode
Same debug port as on the Crazyflie for ease of development
One of the main changes versus the Crazyradio PA will be the available CPU power and ease of development: this will allow to experiment with and implement much more advanced communication protocol like channel hopping and peer-to-peer communication.
On the software side, there will be two modes available for Crazyradio 2.0: a compatibility mode that emulate a Crazyradio PA and should work with all existing software as well as a new Crazyradio mode that will have a much improved USB protocol allowing for more efficient communication when controlling multiple Crazyflie as well as making it easy to support more protocols in the future.
These two modes will be available as two different firmware and the user can ‘drag and drop’ the firmware with the wanted mode.
As for the Crazyradio PA (version 1), sourcing the components for it has been a bit challenging lately. We will sell Crazyradio PA as long as we have stock for it and the software will continue to support it for the foreseeable future.
Announcements
Kimberly and I, Arnaud, will be visiting the FOSDEM conference at the end of the week in Brussels. If you are there too and want to meet us do not hesitate to drop a message in the comment there, in Github discussions or by mail. It would be great to meet fellow Crazyflie users!
We are also planning an online dev-meeting about Crazyradio 2.0 and communication the 22nd of February 2023. The information about joining will be on Github Discussions. We are interested in talking, and bouncing ideas about radio and communication protocol: with the new Crazyradio we have an opportunity to work on communication protocols to improve them and makes them more useful to modern use of the Crazyflie.
Bats navigate using sound. As a matter of fact, the ears of a bat are so much better developed than their eyes that bats cope better with being blindfolded than they cope with their ears being covered. It was precisely this experiment that helped the discovery of echolocation, which is the principle bats use to navigate [1]. Broadly speaking, in echolocation, bats emit ultrasonic chirps and listen for their echos to perceive their surroundings. Since its discovery in the 18th century, astonishing facts about this navigation system have been revealed — for instance, bats vary chirps depending on the task at hand: a chirp that’s good for locating prey might not be good for detecting obstacles and vice versa [2]. Depending on the characteristics of their reflected echos, bats can even classify certain objects — this ability helps them find, for instance, water sources [3]. Wouldn’t it be amazing to harvest these findings in building novel navigation systems for autonomous agents such as drones or cars?
Figure 1: Meet “Crazybat”: the Crazyflie equipped with our custom audio deck including 4 microphones, a buzzer, and a microcontroller. Together, they can be used for bat-like echolocation. The design files and firmware of the audio extension deck are openly available, as is a ROS2-based software stack for audio-based navigation. We hope that fellow researchers can use this as a starting point for further pushing the limits of audio-based navigation in robotics. More details can be found in [4].
The quest for the answer to this question led us — a group of researchers from the École Polytechnique Fédérale de Lausanne (EPFL) — to design the first audio extension deck for the Crazyflie drone, effectively turning it into a “Crazybat” (Figure 1). The Crazybat has four microphones, a simple piezo buzzer, and an additional microprocessor used to extract relevant information from audio data, to be sent to the main processor. All of these additional capabilities are provided by the audio extension deck, for which both the firmware and hardware design files are openly available.1
Video 1: Proof of concept of distance/angle estimation in a semi-static setup. The drone is moved using a stepper motor. More details can be found in [4].
In our paper on the system [4], we show how to use chirps to detect nearby obstacles such as glass walls. Difficult to detect using a laser or cameras, glass walls are excellent sound reflectors and thus a good candidate for audio-based navigation. We show in a first semi-static feasibility study that we can locate the glass wall with centimeter accuracy, even in the presence of loud propeller noise (Video 1). When moving to a flying drone and different kinds of reflectors, the problem becomes significantly more challenging: motion jitter, varying propeller noise and tight real-time constraints make the problem much harder to solve. Nevertheless, first experiments suggest that sound-based wall detection and avoidance is possible (Figure and Video 2).
Video 2: The “Crazybat” drone actively avoiding obstacles based on sound. Figure 2: Qualitative results of sound-based wall localization on the flying “Crazybat” drone. More details can be found in [4].
The principle we use to make this work is sound-based interference. The sound will “bounce off” the wall, and the reflected and direct sound will interfere either constructively or destructively, depending on the frequency and distance to the wall. Using this same principle for the four microphones, both the angle and the distance of the closest wall can be estimated. This is however not the only way to navigate using sound; in fact, our software stack, available as an open-source package for ROS2, also allows the Crazybat to extract the phase differences of incoming sound at the four microphones, which can be used to determine the location of an external sound source. We believe that a truly intelligent Crazybat would be able to switch between different operating modes depending on the conditions, just like bats that change their chirps depending on the task at hand.
Note that the ROS2 software stack is not limited to the Crazybat only — we have isolated the hardware-dependent components so that the audio-based navigation algorithms can be ported to any platform. As an example, we include results on the small wheeled e-puck2 robot in [4], which shows better performance than the Crazybat thanks to the absence of propeller noise and motion jitter.
This research project has taught us many things, above all an even greater admiration for the abilities of bats! Dealing with sound is pretty hard and very different from other prevalent sensing modalities such as cameras or lasers. Nevertheless, we believe it is an interesting alternative for scenarios with poor eyesight, limited computing power or memory. We hope that other researchers will join us in the quest of exploiting audio for navigation, and we hope that the tools that we make publicly available — both the hardware and software stack — lower the entry barrier for new researchers.
1 The audio extension deck works in a “plug-and-play” fashion like all other extension decks of the Crazyflie. It has been tested in combination with the flow deck, for stable flight in the absence of a more advanced localization system. The deck performs frequency analysis on incoming raw audio data from the 4 microphones, and sends the relevant information over to the Crazyflie drone where it is converted to the CRTP protocol on a custom driver and sent to the base station for further processing in the ROS2 stack.
References
[1] Galambos, Robert. “The Avoidance of Obstacles by Flying Bats: Spallanzani’s Ideas (1794) and Later Theories.” Isis 34, no. 2 (1942): 132–40. https://doi.org/10.1086/347764.
[2] Fenton, M. Brock, Alan D. Grinnell, Arthur N. Popper, and Richard R. Fay, eds. “Bat Bioacoustics.” In Springer Handbook of Auditory Research, 1992.https://doi.org/10.1007/978-1-4939-3527-7.
[3] Greif, Stefan, and Björn M Siemers. “Innate Recognition of Water Bodies in Echolocating Bats.” Nature Communications 1, no. 106 (2010): 1–6. https://doi.org/10.1038/ncomms1110.
[4] F. Dümbgen, A. Hoffet, M. Kolundžija, A. Scholefield and M. Vetterli, “Blind as a Bat: Audible Echolocation on Small Robots,” in IEEE Robotics and Automation Letters (Early Access), 2022. https://doi.org/10.1109/LRA.2022.3194669.
2023 has already begun, and we have some ideas and hopes on what this new year will mean for Bitcraze. Of course, what 2022 has proven to us is that the world is unpredictable; but it doesn’t stop us from dreaming about our future. So here is what’s in our wishlist for 2023!
Products
We dedicated a good part of the winter to get a new, updated and better Crazyradio, that we will present to you sometime this year. Rumor around the office is that it will solve all problems you can think of, related to communication!
And, even though it’s been a long run, we hope to soon get the Big Quad deck and Bolt out of early access. There are still some things to tweak and documentation to write.
The Nimble + should arrive soon in the store, a drone with flapping wings powered by the Bolt and designed by our friends at Flapper Drones.
Prototypes
There’s always a drawer at Bitcraze that’s full of ideas and prototypes. What we lack to make them come true is time ! We are constantly wondering which of those treasures that will be our next product, and I can’t say anything is for certain, but to give you some ideas, we’ve been playing around with the idea of a brushless Crazyflie, a Glow deck, and are definitely updating some of our current decks.
Community
We really enjoyed meeting people at fairs once again after 2 years of staying put. We don’t know at which conference you will be able to catch us (yet), but we’ll most definitely attend at least 2.
And we will not loose track of our users and hope to get feedback and input as much as possible during our dev meetings or even mini-BAMs.
Bitcraze
We’re still actively looking for teammates, and we hope there’s someone out there that will join us in 2023! Send us a CV if you’re interested.
External dependencies
The components crisis hit us hard in 2020, but it seems we’re gradually coming back to normal. While the world is still full of surprises, we’re happy to have enough stability to still be doing what we like, through pandemics or recessions. Of course, we much rather prefer when things are a little less exciting! We’re cautiously optimistic about 2023, hoping that wars will end and that awareness about climate change will bring out the right habits.
Soon we will have our quarterly meeting, where we try to herd and select our passions and ideas into conceivable plans and actions.
We’re never sure if one year is enough to see all of our plans and hopes go through, but 2023 is still brand new with a lot of possibilities, that we plan to grab with passion. May this new year bring you excitement and passion too!
This year, the traditional Christmas video was overtaken by a big project that we had at the end of November: creating a test show with the help of CollMot.
First, a little context: CollMot is a show company based in Hungary that we’ve partnered with on a regular basis, having brainstorms about show drones and discussing possibilities for indoor drones shows in general. They developed Skybrush, an open- source software for controlling swarms. We have wanted to work with them for a long time.
So, when the opportunity came to rent an old train hall that we visit often (because it’s right next to our office and hosts good street food), we jumped on it. The place itself is huge, with massive pillars, pits for train maintenance, high ceiling with metal beams and a really funky industrial look. The idea was to do a technology test and try out if we could scale up the Loco positioning system to a larger space. This was also the perfect time to invite the guys at CollMot for some exploring and hacking.
The train hall
The Loco system
We added the TDoA3 Long Range mode recently and we had done experiments in our test-lab that indicate that the Loco Positioning systems should work in a bigger space with up to 20 anchors, but we had not actually tested it in a larger space.
The maximum radio range between anchors is probably up to around 40 meters in the Long Range mode, but we decided to set up a system that was only around 25×25 meters, with 9 anchors in the ceiling and 9 anchors on the floor placed in 3 by 3 matrices. The reason we did not go bigger is that the height of the space is around 7-8 meters and we did not want to end up with a system that is too wide in relation to the height, this would reduce Z accuracy. This setup gave us 4 cells of 12x12x7 meters which should be OK.
Finding a solution to get the anchors up to the 8 meters ceiling – and getting them down easily was also a headscratcher, but with some ingenuity (and meat hooks!) we managed to create a system. We only had the hall for 2 days before filming at night, and setting up the anchors on the ceiling took a big chunk out of the first day.
Drone hardware
We used 20 Crazyflie 2.1 equipped with the Loco deck, LED-rings, thrust upgrade kit and tattu 350 mAh batteries. We soldered the pin-headers to the Loco decks for better rigidity but also because it adds a bit more “height-adjust-ability” for the 350 mAh battery which is a bit thicker then the stock battery. To make the LED-ring more visible from the sides we created a diffuser that we 3D-printed in white PLA. The full assembly weighed in at 41 grams. With the LED-ring lit up almost all of the time we concluded that the show-flight should not be longer than 3-4 minutes (with some flight time margin).
The show
CollMot, on their end, designed the whole show using Skyscript and Skybrush Studio. The aim was to have relatively simple and easily changeable formations to be able to test a lot of different things, like the large area, speed, or synchronicity. They joined us on the second day to implement the choreography, and share their knowledge about drone shows.
We got some time afterwards to discuss a lot of things, and enjoy some nice beers and dinner after a job well done. We even had time on the third day, before dismantling everything, to experiment a lot more in this huge space and got some interesting data.
What did we learn?
Initially we had problems with positioning, we got outliers and lost tracking sometimes. Finally we managed to trace the problems to the outlier filter. The filter was written a long time ago and the current implementation was optimized for 8 anchors in a smaller space, which did not really work in this setup. After some tweaking the problem was solved, but we need to improve the filter for generic support of different system setups in the future.
Another problem that was observed is that the Z-estimate tends to get an offset that “sticks” and it is not corrected over time. We do not really understand this and will require more investigations.
The outlier filer was the only major problem that we had to solve, otherwise the Loco system mainly performed as expected and we are very happy with the result! The changes in the firmware is available in this, slightly hackish branch.
We also spent some time testing maximum velocities. For the horizontal velocities the Crazyflies started loosing positioning over 3 m/s. They could probably go much faster but the outlier filter started having problems at higher speeds. Also the overshoot became larger the faster we flew which most likely could be solved with better controller tuning. For the vertical velocity 3 m/s was also the maximum, limited by the deceleration when coming downwards. Some improvements can be made here.
Conclusion is that many things works really well but there are still some optimizations and improvements that could be made to make it even more robust and accurate.
The video
But, enough talking, here is the never-seen-before New Year’s Eve video
And if you’re curious to see behind the scenes
Thanks to CollMot for their presence and valuable expertise, and InDiscourse for arranging the video!
And with the final blogpost of 2022 and this amazing video, it’s time to wish you a nice New Year’s Eve and a happy beginning of 2023!
Santa is soon to be knocking on the door, hopefully with one or two exciting toys (with blinking LEDs) for us geeky people! There will not be a Christmas video in the Bitcraze gift this year, instead we’re wrapping up a new release that we hope will add to the Christmas fun!
We have been working on a secret project though and there might be a video for next week’s blog post showing what we have been up to…
The 2022.12 release
We are happy to announce that a new official release is out, 2022.12! We have mainly fixed bugs and stability issues but also added some new features, please see details below.
One of the main events in this release is that the Flapper Nimble+ has got official support with the flapper platform, it can now be flashed through the client like any other member of the Crazyflie family. A new controller, based on work by Brescianini has been added. The Kalman estimator and Lighthouse system have been tweaked to work better with the increased data volumes generated with 2+ base stations. Some improvements for brushless motors have been added. Finally there have been some general bug and stability fixes, including improvements for flashing of the AI-deck.
Please see the release notes for a list of all changes.
A blocking method has been added to upload trajectories to the high level commander, the various Uploader classes in the examples are not needed anymore. Stability and bug fixes related to deck flashing.
Please see the release notes for a list of all changes.
A button has been added in the console log tab to get statistics about persistent storage in the Crazyflie. The final traces of Windows and Mac builds have been cleaned out and some stability and bug fixes have been applied.
Please see the release notes for a list of all changes.
Announcement: We will have a townhall meeting this Wednesday (7th of December) about Crazyradio 2.0 and the ideas about the new com-stack at 15:00 (3 pm) CET. Please follow the discussion here for more info.
As you have been very much aware of already if you have been reading the blog occasionally is that we went to Japan with the entire company to be at the International Conference on Intelligent Robots and Systems (IROS) in Kyoto, Japan. Besides eating great food, singing karaoke, and herding our fully onboard autonomous swarm at our stand, we also had some time to check out what kind of work was done with the Crazyflie in the proceeding papers and talks!
So just some generic statistics first:
IROS had 1716 papers accepted
We found 14 Crazyflie papers/posters and 2 workshop papers
The three biggest topics we found the papers in were: SLAM, Multi-robot systems and Navigation & Motion planning, SLAM
At ICRA this year, we noticed that the Crazyflie/bolt were used to make unconventional platforms, like a mono-copter or transforming the Crazyflie to a Pogo stick. It was interesting to see that now at IROS, the focus seemed to be more on navigation, localization and even SLAM… also with unconventional sensors!
Navigation and SLAM with the Crazyflie
In the summer I (Kim) worked on a summer project with using ROS2 to try SLAM with the standard packages with the Flow deck and Multi-ranger. This was also to present the work at ROScon before that with the Crazyswarm2 project, the Crazyflie can be used as an actual robotic platform too! I’m glad that some researchers already figured this one out already, as there were quite some papers on SLAM! [6] and [12] made use of the flow & multi-ranger but made their own custom algorithms to do SLAM and mapping that was more tailored to the task than the standard SLAM packages out there meant for 360 degree lidars.
Very interestingly, there were several papers that uses unconventional sensors for this as well. [5] used a gas sensor to do both gas source localization and distributing mapping and [10] made their own echolocation deck with buzzer + microphones. Let’s see what other sensors will be explored in the future!
Safe Robot Learning Competition
A special mention goes to the Safe Robot Learning competition, organized by the joined TU Munich and Utoronto’s the Learning system & robotics lab (formally known as the Dynamic Systems lab). In this competition, teams could participate with an online competition where they had to finish an obstacle course in simulation. From those that were successful, the finals were done with a real Crazyflie at a remote testbed in the University of Toronto, where the algorithms were put to the ultimate test! The simulation was done in the safe-control-gym framework [12], and the communication with the real Crazyflie was done with the ROS1 based Crazyswarm. We sponsored the first three places with a couple of Crazyflie bundles, so congrats to the winners!
List of IROS 2022 Papers featuring the Crazyflie
Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors Sven Gronauer, Matthias Kissel, Luca Sacchetto, Mathias Korte and Klaus Diepold
Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination Teng Guo, Siwei Feng and Jingjin Yu
Avoiding Dynamic Obstacles with Real-time Motion Planning using Quadratic Programming for Varied Locomotion Modes Jason White, David Jay, Tianze Wang, and Christian Hubicki
Safe Reinforcement Learning for Robot Control using Control Lyapunov Barrier Functions Desong Du, Shaohang Han, Naiming Qi and Wei Pan
Harbin Institute of Technology + TU Delft + University of Manchester
Late breaking result poster
Parsing Indoor Manhattan Scenes Using Four-Point LiDAR on a Micro UAV Eunju Jeong, Suyoung Kang, Daekyeong Lee, and Pyojin Kim
Sookmyung Women’s University,
Late breaking result poster
Interactive Multi-Robot Aerial Cinematography Through Hemispherical Manifold Coverage Xiaotian Xu , Guangyao Shi , Pratap Tokekar , and Yancy Diaz-Mercado
University of Maryland
Note: Only mention of Crazyflie experiments in presentation
Safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning in Robotics Zhaocong Yuan, Adam W. Hall, Siqi Zhou, Lukas Brunke, Melissa Greeff, Jacopo Panerati, Angela P. Schoellig
Customizable-ModQuad: a Versatile Hardware-Software Platform to Develop Lightweight and Low-cost Aerial Vehicles Diego S. D’Antonio, Jiawei Xu, Gustavo A. Cardona, and David Saldaña
Let us know if we are missing any papers or information per papers! Once the IEEE xplore IROS 2022 proceedings have been published, we will update these too and put them on our research page.
