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This repository contains the implementation of the paper:
Ultra-Wideband Swarm Ranging. Feng Shan, Jiaxin Zeng, Zengbao Li, Junzhou Luo, Weiwei Wu. INFOCOM 2021. PDF,
which proposed a UWB-based ranging protocol for dynamic and dense swarm of robots and devices.

This repository is forked from the official firmware by Bitcraze and all our work is stored in the folder crazyflie-firmware/src/deck/drivers/src/swarming.
If you find any error, please don't hesitate to open an issue or pull request.

If you find this repository helpful for your work, please kindly cite the following paper. The Bibtex is listed below:

@article{shan2021ultra,
  title={Ultra-Wideband Swarm Ranging},
  author={Shan, Feng and Zeng, Jiaxin and Li, Zengbao and Luo, Junzhou and Wu, Weiwei},
  booktitle={IEEE INFOCOM 2021-IEEE Conference on Computer Communications},
  year={2021},
  organization={IEEE}
}

Clone this repository:

git clone --recursive https://github.com/SEU-NetSI/crazyflie-firmware.git

Enter the swarming folder:

cd crazyflie-firmware/src/deck/drivers/src/swarming

Build the firmware:

make clean
make

Flash the cf2.bin:

cfloader flash path/to/cf2.bin stm32-fw

If you have any question, please issue the project or email us and we will reply you soon.

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