Multi-Agent Phase-Balancing around Polar Curves with Bounded Trajectories: An Experimental Study using Crazyflies and MoCap System

In this experimental work, we implement the control design from our earlier work on a swarm of Crazyflie 2.1 quad-copters by deriving the original control in terms of variables that are available to the user in this practical system. A suitable model is developed using the Crazyswarm2 package within ROS2 to facilitate the execution of the control law. We also discuss various components that are part of this experiment and the challenges we encountered during the experimentation. Extensive experimental results, along with the links to the YouTube videos for actual Crazyflie quad-copters, are provided.