The objective of this function is to provide a simulation platform in Python for drone swarming. This function is inspired by Wil Selby, for single drone coded in MATLAB.

The simulations of distributed localization algorithm and obstacle avoidance within Melbourne city using buildings data were later adopted into this function.

The paramters, such as PID parameter, drone parameter, sensor noise and etc., can be modified in quad_variables.py. The number of drone can be modified in main_simple.py, where the initial positions and desired positions should be given accordingly.

There are 8 drones in this demo. Their initial position are random and try to attain the desired positions via formation control and collision avoidance algorithm.

Riccardo Falconi, Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi and Claudio Melchiorri. Edge-weighted consensus-based formation control strategy with collision avoidance.