CrazyChoir：ROS 2 中 Crazyflie 四旋翼飞行器集群
CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2
AI总结：
本文提出基于 ROS 2 的模块化 Python 框架 CrazyChoir，用于 Crazyflie 四旋翼集群的仿真、通信、分布式优化与控制，并通过编队、取送货和轨迹跟踪实验验证其有效性。
摘要：
本文介绍了 CrazyChoir，一个基于机器人操作系统（ROS）2 的模块化 Python 框架。该工具箱提供了一整套功能，用于在协作的 Crazyflie 纳米四旋翼飞行器团队上仿真和运行实验。具体而言，它允许用户在 Webots 等机器人仿真器上进行逼真的仿真，并包含固件控制与规划函数的绑定。该工具箱还提供了直接在 ROS 2 脚本中与 Crazyflie 进行无线电通信的库。因此，该软件包可用于设计、实现和测试 Crazyflie 纳米四旋翼飞行器的规划策略与控制方案。此外，CrazyChoir 的模块化结构使用户能够轻松地在多架四旋翼飞行器上实现在线分布式优化和控制方案。CrazyChoir 软件包通过在 Crazyflie 集群上的编队控制、取送货车辆路径规划和轨迹跟踪任务的仿真与实验得到了验证。CrazyChoir 可在 https://github.com/OPT4SMART/crazychoir 获取。
英文摘要：
This paper introduces CrazyChoir, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of functionalities to simulate and run experiments on teams of cooperating Crazyflie nano-quadrotors. Specifically, it allows users to perform realistic simulations over robotic simulators as, e.g., Webots and includes bindings of the firmware control and planning functions. The toolbox also provides libraries to perform radio communication with Crazyflie directly inside ROS 2 scripts. The package can be thus used to design, implement and test planning strategies and control schemes for a Crazyflie nano-quadrotor. Moreover, the modular structure of CrazyChoir allows users to easily implement online distributed optimization and control schemes over multiple quadrotors. The CrazyChoir package is validated via simulations and experiments on a swarm of Crazyflies for formation control, pickup-and-delivery vehicle routing and trajectory tracking tasks. CrazyChoir is available at https://github.com/OPT4SMART/crazychoir.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
