Distributed Predictive Drone Swarms in Cluttered Environments

This folder contains data, videos, and supplementary material for the article titled "Distributed Predictive Drone Swarms in Cluttered Environments". In the article, we present a Distributed Model Predictive Control (DMPC) algorithm for drone swarm navigation in two types of cluttered environments, i.e., a forest and a funnel-like environment.    The material in zenodo_upload is organized as follows. 1. a data folder, with the logs of simulation and hardware experiments; 2. an analysis folder, with Matlab scripts that analyze the logs in the data folder; 3. a plotting folder, with Matlab functions used by the analysis scripts; 4. an mp4 video file, on simulation and hardware experiments; 5. a pdf, with supplementary materials. The qp_swarm folder contains MATLAB code for simulation experiments.