Crazyflie Tag

Collision Avoidance for Two Crazyflies

This mini-project was performed in October 2025 as part of the course TSFS12 "Autonomous vehicles – planning, control, and learning systems" by Pierre Humblot, Maxence Maury, Nathan Rivaux, Jessy Sanfilippo and Samuel Åkesson.

The goal was to make a Crazyflie avoid another Crazyflie, while the Crazyflie actively chases it.

Videos

Crazyflie following a time-parametrized heart shape.
Scared drone (right) trying to move past the scary drone (left). Oscillatory behaviour due to binary force field.
Scared drone (right) successfully avoiding the scary drone (left), this time with a smooth force field. The sudden descent of the scary drone is due to air turbulence, the drones interfering with eachother.
Manually controlling the scary drone (left) to chase the scared drone (right).
Final product: autonomous chasing behaviour of the scary drone (left) trying to catch the scared drone (right).
Final product: autonomous chasing behaviour of the scary drone (left) trying to catch the scared drone (right).