D-FaLL Distributed Flying and Localisation Laboratory

About us

The Distributed Flying and Localisation Laboratory has been running since 2014 with the goal of creating a space where students can learn, experiment, and develop new ideas on the topic of Flying Machines and their Localisation. The project pursued by the students here always maintain a focus on how to handle the challenges of a distributed architecture when there are many agents simultaneously flying and localising.

Goals of D-FaLL

The D-FaLL project aims at the real-world implementation of distributed estimation and control algorithms for a fleet of nano-quadcopters (the "Crazyflies"), and their localisation via Ultra Wide-Band (UWB) technology (the "Decawave module"). The focus is to build a system that truly embodies the complexities of distributed estimation and control. Therefore, each flying agent is able to take measurements with on-board sensors, make decisions via on-board computation, and communicate via an ad-hoc network. The goal for localisation is to develop a system that is based on low-cost, off-the-shelf components and enables an arbitrary number of flying agents to simultaneously estimate their location with sub-centimetre accuracy. Think of an indoor GPS system, but with increased accuracy and capable of being used indoors.

The D-FaLL project also aims at making all the underlying theory and experimental set-up readily available. Our GitLab repository provides access to the latest stable-code, and the Quadrotor P&S is our offering to the D-ITET bachelor students to comprehend, apply, and implement the control theory required to make a quad-rotor fly autonomously.