swarm (Swarm)¶

The swarm module provides cluster control interfaces, including multi-vehicle formation control, distributed simulation, Crazyflie adaptation, MAVLink Shell, ADB communication, and other functionalities, supporting collaborative control and simulation of large-scale drone clusters.

Module Features¶

Feature	Description
Multi-vehicle State Management	Acquisition and synchronization of pose and status for vehicles within the cluster
Formation Control	Sending formation control commands to multiple vehicles
Distributed Simulation	Support for distributed cluster simulation across multiple computers
Crazyflie Support	Adaptation interface for Bitcraze Crazyflie micro drones
MAVLink Shell	Remote access to flight controller command-line shell
ADB Communication	Android Debug Bridge device management

Core Classes and Interfaces¶

Class/Interface	Description
`VehicleApi`	Single-vehicle cluster configuration management, supporting unified control interface
`DistSim`	Distributed simulation management, supporting cross-computer clusters
`Crazyflie`	Adaptation interface for Crazyflie drones
`CrazySwarm`	Crazyflie cluster management
`RflyShell`	Remote shell command execution
`AdbLib`	ADB device management library
`RJ45PX6X`	Network interface management

Usage Scenarios¶

Cluster Formation¶

Formation flight control for multiple drones
Formation transformation and reconfiguration control
Cluster obstacle avoidance and path planning

Distributed Simulation¶

Distributed computing for large-scale clusters
Cross-regional multi-vehicle collaborative simulation
Load balancing of computational resources

Micro Drones¶

Indoor cluster experiments with Crazyflie
Formation control for micro drones
Low-cost platform for education and research

Real-World Deployment¶

Cluster control of real drones
Switching between remote control and autonomous control
Cluster task allocation and coordination

Cluster Control Example¶

from RflySimSDK.swarm import VehicleApi

# Create a cluster management instance
swarm = VehicleApi()

# Initialize 5 drones
for i in range(1, 6):
    swarm.addVehicle(i)

# Connect all drones
swarm.connectAll()

# Take off collectively to an altitude of 5 meters
swarm.takeoffAll(5)

# Execute formation flight (triangular formation)
swarm.formationTriangle(side_length=3)

# Hover for 10 seconds
import time
time.sleep(10)

# Land collectively
swarm.landAll()

Note: This document serves as the index page for the swarm module. Detailed API descriptions for each interface can be found in their respective standalone documentation pages.