{"id":"https://openalex.org/W4380839231","doi":"https://doi.org/10.1109/lra.2023.3286814","title":"CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2","display_name":"CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2","publication_year":2023,"publication_date":"2023-06-15","ids":{"openalex":"https://openalex.org/W4380839231","doi":"https://doi.org/10.1109/lra.2023.3286814"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3286814","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3286814","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2023.3286814","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030276401","display_name":"Lorenzo Pichierri","orcid":"https://orcid.org/0000-0002-3745-3340"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Pichierri","raw_affiliation_strings":["Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3745-3340","affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005195312","display_name":"Andrea Testa","orcid":"https://orcid.org/0000-0002-8118-5320"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Testa","raw_affiliation_strings":["Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8118-5320","affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017893179","display_name":"Giuseppe Notarstefano","orcid":"https://orcid.org/0000-0002-0906-7848"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Notarstefano","raw_affiliation_strings":["Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0906-7848","affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":{"value":2345,"currency":"USD","value_usd":2345},"fwci":2.5853,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.89794383,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":"8","first_page":"4713","last_page":"4720"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7501223683357239},{"id":"https://openalex.org/keywords/scripting-language","display_name":"Scripting language","score":0.6451832056045532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6357747316360474},{"id":"https://openalex.org/keywords/python","display_name":"Python (programming language)","score":0.6330035924911499},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.5117065906524658},{"id":"https://openalex.org/keywords/firmware","display_name":"Firmware","score":0.4638403058052063},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.27944064140319824},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.20505857467651367}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7501223683357239},{"id":"https://openalex.org/C61423126","wikidata":"https://www.wikidata.org/wiki/Q187432","display_name":"Scripting language","level":2,"score":0.6451832056045532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6357747316360474},{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.6330035924911499},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.5117065906524658},{"id":"https://openalex.org/C67212190","wikidata":"https://www.wikidata.org/wiki/Q104851","display_name":"Firmware","level":2,"score":0.4638403058052063},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.27944064140319824},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.20505857467651367}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3286814","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3286814","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:cris.unibo.it:11585/963372","is_oa":true,"landing_page_url":"https://hdl.handle.net/11585/963372","pdf_url":"https://cris.unibo.it/bitstream/11585/963372/1/CrazyChoir_Flying_Swarms_of_Crazyflie_Quadrotors_in_ROS_2-2.pdf","source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3286814","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3286814","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5150236508","display_name":null,"funder_award_id":"BR22GR01","funder_id":"https://openalex.org/F4320323988","funder_display_name":"Ministero degli Affari Esteri e della Cooperazione Internazionale"}],"funders":[{"id":"https://openalex.org/F4320323988","display_name":"Ministero degli Affari Esteri e della Cooperazione Internazionale","ror":"https://ror.org/02jkm3388"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1495971413","https://openalex.org/W1501966803","https://openalex.org/W1649645444","https://openalex.org/W2014824949","https://openalex.org/W2095571137","https://openalex.org/W2109656638","https://openalex.org/W2162991084","https://openalex.org/W2465948386","https://openalex.org/W2530771494","https://openalex.org/W2600080636","https://openalex.org/W2615547864","https://openalex.org/W2617536634","https://openalex.org/W2765732465","https://openalex.org/W2786317709","https://openalex.org/W2888348201","https://openalex.org/W2901136733","https://openalex.org/W2991074353","https://openalex.org/W2995064638","https://openalex.org/W2999329771","https://openalex.org/W3011613664","https://openalex.org/W3042263354","https://openalex.org/W3082697078","https://openalex.org/W3092565230","https://openalex.org/W3094406739","https://openalex.org/W3133007015","https://openalex.org/W4280571816","https://openalex.org/W4285102248","https://openalex.org/W4285102533","https://openalex.org/W4309793447","https://openalex.org/W4318814749","https://openalex.org/W6756486208","https://openalex.org/W6782364735"],"related_works":["https://openalex.org/W2549786917","https://openalex.org/W3023169329","https://openalex.org/W4389470870","https://openalex.org/W2782165897","https://openalex.org/W4300438041","https://openalex.org/W2054104202","https://openalex.org/W2139703748","https://openalex.org/W2761254753","https://openalex.org/W1024825291","https://openalex.org/W2188981919"],"abstract_inverted_index":{"This":[0],"letter":[1],"introducesCrazyChoir,":[2],"a":[3,18,91,120],"modular":[4,96],"Python":[5],"framework":[6],"based":[7],"on":[8,28,119],"the":[9,52,95],"Robot":[10],"Operating":[11],"System":[12],"(ROS)":[13],"2.":[14],"The":[15,58,74],"toolbox":[16,59],"provides":[17,61],"comprehensive":[19],"set":[20],"of":[21,30,51,122],"functionalities":[22],"to":[23,38,63,80,100],"simulate":[24],"and":[25,48,55,83,87,106,117,130],"run":[26],"experiments":[27,118],"teams":[29],"cooperating":[31],"Crazyflie":[32,68,92],"nano-quadrotors.":[33],"Specifically,":[34],"it":[35],"allows":[36],"users":[37,99],"perform":[39,64],"realistic":[40],"simulations":[41,116],"over":[42,109],"robotic":[43],"simulators":[44],"as,":[45],"e.g.,":[46],"Webots":[47],"includes":[49],"bindings":[50],"firmware":[53],"control":[54,88,107],"planning":[56,85],"functions.":[57],"also":[60],"libraries":[62],"radio":[65],"communication":[66],"with":[67],"directly":[69],"inside":[70],"ROS":[71],"2":[72],"scripts.":[73],"package":[75],"can":[76],"be":[77],"thus":[78],"used":[79],"design,":[81],"implement":[82,102],"test":[84],"strategies":[86],"schemes":[89,108],"for":[90,124],"nano-quadrotor.":[93],"Moreover,":[94],"structure":[97],"ofCrazyChoirallows":[98],"easily":[101],"online":[103],"distributed":[104],"optimization":[105],"multiple":[110],"quadrotors.":[111],"TheCrazyChoirpackage":[112],"is":[113],"validated":[114],"via":[115],"swarm":[121],"Crazyflies":[123],"formation":[125],"control,":[126],"pickup-and-delivery":[127],"vehicle":[128],"routing":[129],"trajectory":[131],"tracking":[132],"tasks.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
