How to use CrazyS for Control Barrier Function simulation?

[hoangah2000vn]

Hi! I'm currently working on a multiagent control project in which the aim is to have multiple crazyflie flying without collisions using the Control Barrier Function (CBF). The CBF is trained using the neural network so after training it is stored as neural network parameters. My questions is how do I integrate the CBF in Crazyflie hardware. Should I modify the controller code?

Please let me know if any part of my question is not clear!

[gsilano]

Hi! I don't know if you can integrate it into the Crazyflie microcontroller or not. It looks like a technical question for Bitcraze.

If you want to test it with CrazyS, I could give you advice on how to proceed.

[hoangah2000vn]

Hi yes could you give me advice on how to proceed? what should I modify?

[gsilano]

Ok! Have you already read the related papers?

[hoangah2000vn]

yes I did

[gsilano]

Sorry for the late reply, but this period is a bit busy for me. To answer your question I would need to know what your NN outputs are. In other words, the I/O interface. As you have probably read from the reference publications, in CrazyS you can control the behavior of the vehicle by providing the propeller angular speeds.

[hoangah2000vn]

Hi bumping this