Decentralised Inter-communicating Swarm

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Joined: Tue Jun 05, 2018 9:48 am

Decentralised Inter-communicating Swarm

Post by Ghost2010 » Fri Jun 08, 2018 10:05 am

Hey everyone!

I am an undergrad working on formation control of a swarm of crazyflie2.0. I wish to make the swarm decentralized and the quad-rotors inter-communicating. This inter-communication involves sharing local data like their own positions co-ordinates with one another. How can I accomplish this sharing or inter-communication between the quad-rotor systems without the involvement of the central node ie crazyradio PA.


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Joined: Tue Feb 06, 2007 12:36 pm

Re: Decentralised Inter-communicating Swarm

Post by arnaud » Mon Jun 11, 2018 2:23 pm

This can be achieved with the Crazyflie 2.0 hardware, though you will need to mofify the nRF51 and stm32 source code.

The nRF51 is currently programmed to act in PRX mode (in the nRF24L chip terminology), this means that the Crazyflie listens and only send packet to acknowledge a received packet. You will need to send packet to one another and to define the communication protocol (you should be able to use a new CRTP port in order to implement your communication with minimal modification of the firmware).

If you want to implement this, I suggest you start looking at how the current communication is implemented (nRF51 communicates with the stm32 using a protocol we called syslink) and to see how you can implement p2p packet tx. Do not hesitate to ask if you have questions about the architecture or the implementation.

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