AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones
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arXiv
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866910866830524416 |
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| author | Li, Xiaowei Xu, Kuan Liu, Fen Bai, Ruofei Yuan, Shenghai Xie, Lihua |
| author_facet | Li, Xiaowei Xu, Kuan Liu, Fen Bai, Ruofei Yuan, Shenghai Xie, Lihua |
| contents | Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this issue, we propose AirSwarm. AirSwarm democratizes multi-drone coordination using low-cost commercially available drones such as Tello or Anafi, enabling affordable swarm aerial robotics research and education. Key innovations include a hierarchical control architecture for reliable multi-UAV coordination, an infrastructure-free visual SLAM system for precise localization without external motion capture, and a ROS-based software framework for simplified swarm development. Experiments demonstrate cm-level tracking accuracy, low-latency control, communication failure resistance, formation flight, and trajectory tracking. By reducing financial and technical barriers, AirSwarm makes multi-robot education and research more accessible. The complete instructions and open source code will be available at |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_06890 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones Li, Xiaowei Xu, Kuan Liu, Fen Bai, Ruofei Yuan, Shenghai Xie, Lihua Robotics Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this issue, we propose AirSwarm. AirSwarm democratizes multi-drone coordination using low-cost commercially available drones such as Tello or Anafi, enabling affordable swarm aerial robotics research and education. Key innovations include a hierarchical control architecture for reliable multi-UAV coordination, an infrastructure-free visual SLAM system for precise localization without external motion capture, and a ROS-based software framework for simplified swarm development. Experiments demonstrate cm-level tracking accuracy, low-latency control, communication failure resistance, formation flight, and trajectory tracking. By reducing financial and technical barriers, AirSwarm makes multi-robot education and research more accessible. The complete instructions and open source code will be available at |
| title | AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.06890 |