Agile, dense aerial swarms

We build the algorithms and platforms for flying dense robot swarms in tight indoor and outdoor spaces. Our work spans scalable kinodynamic planning that respects the full continuous dynamics of each vehicle, aerodynamic-aware control that accounts for downwash coupling between neighbors, and cooperative docking maneuvers. Recent results include concrete multi-agent path planning that guarantees collision-free, dynamically feasible trajectories for dozens of drones, and dynamics-aware diffusion methods for generating smooth multi-robot flight plans.