crazyflie-optical-flow-obstacle-avoidance-app

This repository contains the code for the obstacle avoidance application of NanoFlowNet.

Please refer to the main repository for the used models and the AI-deck implementation.

Based on the SGBA [1] wall follower app layer demo from crazyflie-firmware.

References

[1] McGuire, KN and De Wagter, Christophe and Tuyls, Karl and Kappen, HJ and de Croon, Guido CHE (2019). Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. Science Robotics, 4(35)

Publication:

arXiv preprint

IEEE-ICRA 2023 paper

Please cite us as follows:

@inproceedings{bouwmeester2023nanoflownet,
  title={Nanoflownet: Real-time dense optical flow on a nano quadcopter},
  author={Bouwmeester, Rik J and Paredes-Vall{\'e}s, Federico and De Croon, Guido CHE},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1996--2003},
  year={2023},
  organization={IEEE}
}