Overview

Simulator: Webots ( ds-crazyflie ) and Gazebo ( sim_cf2 , crazyswarm2 )
Drone Controller: <a href="https://github.com/UniAgent-CyberPhysicalAssets/cps.asset.crazyflie/tree/main/controller/cf.PyControl">cf.PyControl (Python)
Database: Eclipse CDO
Java Frameworks: Bigraph Framework , <a href="https://github.com/bigraph-toolkit-suite/bigraphs.bdsl-interpreter-parent">BDSL , Spring Data CDO

Github Repository: https://github.com/UniAgent-CyberPhysicalAssets/cps.asset.crazyflie

This tutorial demonstrates how to build and program smart drone swarms using Crazyflie tiny drones.

A full-stack setup is provided for simulating and controlling Crazyflie tiny drones, from low-level motor commands to high-level swarm logic.

You’ll learn how to:

Set up a simplified (i.e., a not yet very realistic) simulation environment with preset and custom worlds and the Crazyflie.
Use Web Endpoints with the Crazyflie firmware stack to execute control commands.
Define, control, and analyze collective behavior using a bigraph algebra, a formalism for modeling both connectivity and spatial configuration in dynamic systems. (🚧 WIP)

The software stack employed in this tutorial:

Everything is open source and provided through Docker images for easy installation and use.