├── README.md
├── Report
    └── suru_iha_teknofest_2021.pdf
├── media
    ├── square-formation.gif
    ├── swarm.JPG
    └── take-off-square.gif
└── src
    ├── formations.py
    ├── menu.py
    ├── sub_functions.py
    └── swarm_class.py


/README.md:
--------------------------------------------------------------------------------
  1 | # Swarm-UAV 
  2 | 
  3 | <br/>
  4 | <p align="center">
  5 |   <img src="https://github.com/okantorun/Swarm-UAV/blob/main/media/swarm.JPG">
  6 | </p>
  7 | <br/>
  8 | 
  9 | ## Contents
 10 | - [Project Purpose](#PP)
 11 | - [Installation](#Installation)
 12 | - [Features](#Features)
 13 | - [Simulation](#Simulation)
 14 | - [Menu](#Menu)
 15 | - [Algorithms](#Algorithms)
 16 | 
 17 | ## Project Purpose <a name="PP"></a>
 18 | The need for Swarm Unmanned Aerial Vehicles (Swarm UAV), one of the most important technologies of the near future, is increasing day by day. Swarm UAVs show their importance with both civil and military applications. For example, in a civilian scenario, it will be possible to intervene more effectively in forest fires with Swarm UAVs, and in a military scenario, it will be possible to gain superiority by developing alternative strategies and tactics against existing manned air, land and sea platforms. The main purpose of the Swarm UAV Competition is to compete.Developing software algorithms for the creation of UAVs that can perform the tasks defined in the specification in swarms, demonstrating the performances of these algorithms with Swarm UAVs in the physical environment, as well as guiding young people on the subject and increasing their experience and knowledge.
 19 | 
 20 | 
 21 | ## Installation <a name="Installation"></a>
 22 | - This project is developed in crazyswarm (see: https://crazyswarm.readthedocs.io/en/latest/index.html)
 23 | - Firstly you should install Ros (see: https://www.ros.org/)
 24 | - Then you should install crazyswarm. We will use just python api.
 25 | 
 26 | ### How to install Crazyswarm for just Python API 
 27 | (https://crazyswarm.readthedocs.io/en/latest/installation.html)
 28 | 
 29 | 1- __Set enviroment veriable__
 30 | ```
 31 | $ export CSW_PYTHON=[python2 or python3]
 32 | ```
 33 | 2- __Install depencies__
 34 | ```
 35 | $ sudo apt install git make gcc swig lib${CSW_PYTHON}-dev ${CSW_PYTHON}-numpy ${CSW_PYTHON}-yaml ${CSW_PYTHON}-matplotlib
 36 | ```
 37 | 3- __Clone Repo__
 38 | ```
 39 | $ git clone https://github.com/USC-ACTLab/crazyswarm.git
 40 | ```
 41 | 4- __Run build script__
 42 | ```
 43 | $ cd crazyswarm
 44 | $ ./buildSimOnly.sh
 45 | ```
 46 | 
 47 | ## Features <a name="Features"></a>
 48 | - UAV Individual take off, formation in the air
 49 | - Take off with Formation
 50 | - Adding a new individual to the Swarm
 51 | - Removal of individual from the Swarm
 52 | - Changing Swarm direction with formation protection
 53 | - Formation change
 54 | - Swarm separation
 55 | - Swarm merge
 56 | - Swarm navigation
 57 | - Ascent and descent with swarm
 58 | - Simultaneous / sequential auto-landing with Swarm 
 59 | 
 60 | ## Simulation <a name="Simulation"></a>
 61 | <p align="center">
 62 |   <img src="media/square-formation.gif" width="280"> 
 63 |   <br />
 64 |   <img src="media/take-off-square.gif" width="280">
 65 | </p>
 66 | 
 67 | 
 68 | 
 69 | 
 70 | ## Menu <a name="Menu"></a>
 71 | - It is a control menu created to simulate the developed algorithms.
 72 | 
 73 | #### ![ss](https://i.hizliresim.com/j5cm3q1.png)
 74 | - First of all, choose drone number.
 75 | - Second, choose whether the drones will take off simultaneously or individually.
 76 | - Choose how many meters they will rise.
 77 | - Choose the distance between drones. 
 78 | #### ![ss1](https://i.hizliresim.com/eiz26zi.png)
 79 | -	The formation that can be entered is selected according to the number of drones. 
 80 | #### ![ss2](https://i.hizliresim.com/rdgj1p0.png)
 81 | - Different tasks can be performed with the specified numbers.
 82 | 
 83 | 
 84 | ## Algorithms <a name="Algorithms"></a>
 85 | #### -set_triang_formation                                                                                                                           
 86 | 
 87 |  
 88 |  
 89 |  The purpose of this function is to create a triangle formation with the UAVs in the system<br/>
 90 |   &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Parameters the Function Takes Are<br/>
 91 |   &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;1- distance = is the distance between the two vertices of the triangle you want to form<br/>
 92 | 	&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;2- drone_number = number of drones in the system<br/>
 93 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;3- init_point = center at the time the swarm members call a function<br/>
 94 | 	&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;4- altitude = height of swarm members<br/>
 95 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;5- rotation = angles of swarm members with respect to the main coordinate system<br/>
 96 | 
 97 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm<br/>
 98 |  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Step 1 = 3x3 unit matrix named desired_matrix is created for the three corners of the triangle to be created. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/><br/>
 99 | 	 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	Step 2 = 3 line arrays are created for the side lines of the triangle, but they are empty. Will be resized.<br/><br/>
100 |  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 = On the relative coordinate system on which the swarm system is located, the corner points of the triangle are calculated using geometric relations and assigned to the desired_matrix.<br/><br/>
101 |  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step4 = If there are more than three UAVs in the swarm, they are placed on the border lines by editing the line variable with the re_construct_line function(The re_construct_line function will be explained later).<br/><br/>
102 |  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step5 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/><br/>
103 | 	 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	Step 6 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/><br/>
104 | 
105 | 
106 | #### -set_square_formation:
107 | 
108 | The purpose of this function is to create a square formation with the UAVs in the system.<br/>
109 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	--Parameters the Function Takes Are:<br/>
110 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		1- distance = is the distance between the two vertices of the square you want to form.<br/>
111 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	  2- drone_number = number of drones in the system<br/>
112 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		3- init_point = center at the time the swarm members call a function<br/>
113 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		4- altitude = height of swarm members<br/>
114 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		5- rotation = angles of swarm members with respect to the main coordinate system<br/>
115 | 
116 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm:<br/>
117 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 1 = 4x3 unit matrix named desired_matrix is created for the four corners of the square to be created. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/>
118 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 2 = 4 line arrays are created for the side lines of the square, but they are empty. Will be resized.<br/>
119 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 = On the relative coordinate system on which the swarm system is located, the corner points of the square are calculated using geometric relations and assigned to the desired_matrix.<br/>
120 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step4 = If there are more than four UAVs in the swarm, they are placed on the border lines by editing the line variable with the re_construct_line function(The re_construct_line function will be explained later).<br/>
121 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step5 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/>
122 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 6 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/>
123 | 
124 | 
125 | 
126 | #### -set_v_formation
127 | 
128 | The purpose of this function is to create a ‘v’ formation with the UAVs in the system.<br/>
129 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	--Parameters the Function Takes Are:<br/>
130 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		1- distance = is the distance between the two vertices of the ‘v’ you want to form.<br/>
131 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		2- yaw_angle = is the angle between two lines.<br/>
132 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		3- drone_number = number of drones in the system<br/>
133 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		4- init_point = center at the time the swarm members call a function<br/>
134 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		5- altitude = height of swarm members<br/>
135 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		6- rotation = angles of swarm members with respect to the main coordinate system<br/>
136 | 
137 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm:<br/>
138 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 1 = (drone_number)x3 unit matrix named desired_matrix is created for each element of the formation to be created. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/>
139 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 2 = On the relative coordinate system on which the swarm system is located, the lines of the v formation are calculated using geometric relations and assigned to the desired_matrix.<br/>
140 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/>
141 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 4 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/>
142 | 
143 | 
144 | 
145 | #### -set_pentagon_formation:
146 | 
147 | The purpose of this function is to create a pentagon formation with the UAVs in the system.<br/>
148 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	--Parameters the Function Takes Are:<br/>
149 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		1- distance = is the distance between the two vertices of the pentagon you want to form.<br/>
150 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		2- drone_number = number of drones in the system<br/>
151 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		3- init_point = center at the time the swarm members call a function<br/>
152 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		4- altitude = height of swarm members<br/>
153 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		5- rotation = angles of swarm members with respect to the main coordinate system<br/>
154 | 
155 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm:<br/>
156 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 1 = 5x3 unit matrix named desired_matrix is created for the five corners of the pentagon to be created. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/>
157 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 2 = 5 line arrays are created for the side lines of the pentagon, but they are empty. Will be resized.<br/>
158 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 = On the relative coordinate system on which the swarm system is located, the corner points of the pentagon are calculated using geometric relations and assigned to the desired_matrix.<br/>
159 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step4 = If there are more than five UAVs in the swarm, they are placed on the border lines by editing the line variable with the re_construct_line function(The re_construct_line function will be explained later).<br/>
160 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step5 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/>
161 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 6 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/>
162 | 
163 | #### -set_star_formation:
164 | 
165 | The purpose of this function is to create a star formation with the UAVs in the system.<br/>
166 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	--Parameters the Function Takes Are:<br/>
167 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		1- distance = is the distance between the two vertices of the star you want to form.<br/>
168 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		2- drone_number = number of drones in the system<br/>
169 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		3- init_point = center at the time the swarm members call a function<br/>
170 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		4- altitude = height of swarm members<br/>
171 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		5- rotation = angles of swarm members with respect to the main coordinate system<br/>
172 | 
173 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm:<br/>
174 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 1 = 10x3 unit matrix named desired_matrix is created for the ten corners of the star to be created. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/>
175 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 2 = 10 line arrays are created for the side lines of the star, but they are empty. Will be resized.<br/>
176 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 = On the relative coordinate system on which the swarm system is located, the corner points of the star are calculated using geometric relations and assigned to the desired_matrix.<br/>
177 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step4 = If there are more than ten UAVs in the swarm, they are placed on the border lines by editing the line variable with the re_construct_line function(The re_construct_line function will be explained later).<br/>
178 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step5 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/>
179 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 6 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/>
180 | 
181 | #### -set_crescent_formation:
182 | 
183 | The purpose of this function is to create a crescent formation with the UAVs in the system.<br/>
184 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	--Parameters the Function Takes Are:<br/>
185 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		1-radius = determines the radius of the crescent that will be created<br/>
186 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		2- gap_angle = represents the angle value of the part of the crescent that will be empty<br/>
187 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		3- drone_number = number of drones in the system<br/>
188 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		4- init_point = center at the time the swarm members call a function<br/>
189 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		5- altitude = height of swarm members<br/>
190 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		6- rotation = angles of swarm members with respect to the main coordinate system<br/>
191 | 
192 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm:<br/>
193 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step1 = 2 endpoints of the crescent are determined <br/>
194 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 2 = (drone_number)x3 unit matrix named desired_matrix is created to generate the crescent line. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/>
195 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 =In the while loop, the coordinates of each UAV are calculated according to the angle values and transferred to the desired_matrix.<br/>
196 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step4 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/>
197 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step5 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/>
198 | 
199 | 
200 | #### -set_circle_formation:
201 | The purpose of this function is to create a cicle formation with the UAVs in the system.<br/>
202 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;	--Parameters the Function Takes Are:<br/>
203 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		1-radius = determines the radius of the crescent that will be created<br/>
204 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		2- drone_number = number of drones in the system<br/>
205 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		3- init_point = center at the time the swarm members call a function<br/>
206 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		4- altitude = height of swarm members<br/>
207 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		5- rotation = angles of swarm members with respect to the main coordinate system<br/>
208 | 
209 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;--Description Of the Algorithm:<br/>
210 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step1 = The first point is passed to the variable point 1<br/>
211 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 2 = (drone_number)x3 unit matrix named desired_matrix  is created to generate the circle line. Where the rows represent UAVs. The 1st column represents the x-axis, the 2nd column represents the y-axis, and the 3rd column represents the z-axis.<br/>
212 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step 3 = According to the radius value received and the number of UAVs, the positions to be reached in the while loop are calculated and transferred to the desired_matrix variable.<br/>
213 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step4 = All of the specified coordinates are assigned to the desired_matrix variable and the transformed_matrix is created.<br/>
214 | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;		Step5 = All coordinates are arranged according to the absolute frame with the transformation_2d function and transferred to the transformed_matrix.<br/>
215 | 
216 | 


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/Report/suru_iha_teknofest_2021.pdf:
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/media/square-formation.gif:
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/src/formations.py:
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  1 | from sub_functions import *
  2 | 
  3 | def set_triang_formation(distance,drone_number,init_point,altitude,rotation):
  4 |     desired_matrix = np.zeros((3,3))
  5 |     line1 = np.zeros((0,3))
  6 |     line2 = np.zeros((0,3))
  7 |     line3 = np.zeros((0,3))
  8 |     d = distance
  9 |     point_a = [0,d/m.sqrt(3),altitude]
 10 |     point_b = [-d*m.sin(m.pi/6),-d*m.cos(m.pi/6)+d/m.sqrt(3),altitude]
 11 |     point_c = [d*m.sin(m.pi/6),-d*m.cos(m.pi/6)+d/m.sqrt(3),altitude]
 12 |     desired_matrix[0] = np.array(point_a)
 13 |     desired_matrix[1] = np.array(point_b)
 14 |     desired_matrix[2] = np.array(point_c)
 15 |   
 16 |     i=3
 17 |     while i<drone_number:
 18 |         if(i%3==0):
 19 |             line1 = re_construct_line(point_a, point_b, len(line1), altitude)
 20 |         elif(i%3==1):
 21 |             line2 = re_construct_line(point_b, point_c, len(line2), altitude)
 22 |         elif(i%3==2):
 23 |             line3 = re_construct_line(point_c, point_a, len(line3), altitude)
 24 |         i+=1
 25 | 
 26 |     
 27 |     desired_matrix = np.concatenate((desired_matrix,line1,line2,line3))
 28 |     
 29 |     transformed_matrix = np.zeros( (drone_number,3) )
 30 |     droneIndex=0
 31 |     while(droneIndex < drone_number):
 32 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
 33 |         transformed_matrix[droneIndex][2] = altitude
 34 |         droneIndex+=1
 35 |     
 36 |     return transformed_matrix
 37 |     
 38 | #print(set_triang_formation(5, 5,[1,1,5],3))
 39 | 
 40 | 
 41 | def set_square_formation(distance, drone_number, init_point,altitude,rotation):
 42 |     desired_matrix = np.zeros((4, 3))
 43 |     line1 = np.zeros((0,3))
 44 |     line2 = np.zeros((0,3))
 45 |     line3 = np.zeros((0,3))
 46 |     line4 = np.zeros((0,3))
 47 |     d = distance/2
 48 |     point_a = [-d, d, altitude]
 49 |     point_b = [d, d, altitude]
 50 |     point_c = [d ,-d, altitude]
 51 |     point_d = [-d ,-d, altitude]
 52 |     desired_matrix[0] = np.array(point_a)
 53 |     desired_matrix[1] = np.array(point_b)
 54 |     desired_matrix[2] = np.array(point_c)
 55 |     desired_matrix[3] = np.array(point_d)
 56 | 
 57 |     i = 4
 58 |     while i < drone_number:
 59 |         if (i % 4 == 0):
 60 |             line1 = re_construct_line(point_a, point_b, len(line1), altitude)
 61 |         elif (i % 4 == 1):
 62 |             line2 = re_construct_line(point_b, point_c, len(line2), altitude)
 63 |         elif (i % 4 == 2):
 64 |             line3 = re_construct_line(point_c, point_d, len(line3), altitude)
 65 |         elif(i%4 == 3):
 66 |             line4 = re_construct_line(point_d, point_a, len(line4), altitude)
 67 |         i += 1
 68 |     
 69 |     desired_matrix = np.concatenate((desired_matrix,line1,line2,line3,line4))
 70 |     transformed_matrix = np.zeros( (drone_number,3) )
 71 |     droneIndex=0
 72 |     while(droneIndex < drone_number):
 73 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
 74 |         transformed_matrix[droneIndex][2] = altitude
 75 |         droneIndex+=1
 76 |     
 77 |     return transformed_matrix
 78 |     
 79 | #print(set_square_formation(12, 4,[0,0,0], 3))
 80 | 
 81 | def set_v_formation(distance,yaw_angle,drone_number,init_point,altitude,rotation):
 82 |     desired_matrix = np.zeros( (drone_number,3) )
 83 |     relative_origin = np.array([0,0,altitude])
 84 |     desired_matrix[0] = relative_origin
 85 |     droneIndex=1
 86 |     layer=1
 87 |     while(droneIndex<=drone_number-1):
 88 |         desired_matrix[droneIndex] = np.array([relative_origin[0] + (m.sin(yaw_angle/2)*distance*layer ) , relative_origin[1] - m.cos(yaw_angle/2)*distance*layer , altitude])
 89 |         if(drone_number%2 == 0 and droneIndex==drone_number-1):
 90 |             break
 91 |         droneIndex+=1
 92 |         desired_matrix[droneIndex] = np.array([relative_origin[0]-(m.sin(yaw_angle/2)*distance*layer ) , relative_origin[1] - m.cos(yaw_angle/2)*distance*layer , altitude])
 93 |         droneIndex+=1
 94 |         layer+=1
 95 |     
 96 |     transformed_matrix = np.zeros( (drone_number,3) )
 97 |     droneIndex=0
 98 |     while(droneIndex < drone_number):
 99 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
100 |         transformed_matrix[droneIndex][2] = altitude
101 |         droneIndex+=1
102 |     
103 |     return transformed_matrix
104 | 
105 | #print("v form call")
106 | 
107 | def set_pentagon_formation(distance,drone_number,init_point,altitude,rotation):
108 |     desired_matrix = np.zeros((5,3))
109 |     line1 = np.zeros((0,3))
110 |     line2 = np.zeros((0,3))
111 |     line3 = np.zeros((0,3))
112 |     line4 = np.zeros((0,3))
113 |     line5 = np.zeros((0,3))
114 |     d = distance
115 | 
116 |     point_a = [0,d*0.85,altitude]
117 |     point_b = [-d*m.sin(m.pi/3.333),-d*m.cos(m.pi/3.333)+d*0.85,altitude]
118 |     point_c = [-((m.sqrt(5)*d+d)/2)*m.sin(m.pi/10),-((m.sqrt(5)*d+d)/2)*m.cos(m.pi/10)+d*0.85,altitude]
119 |     point_d = [((m.sqrt(5)*d+d)/2)*m.sin(m.pi/10),-((m.sqrt(5)*d+d)/2)*m.cos(m.pi/10)+d*0.85,altitude]
120 |     point_e = [d*m.sin(m.pi/3.333),-d*m.cos(m.pi/3.333)+d*0.85,altitude]
121 |     
122 |     desired_matrix[0] = np.array(point_a)
123 |     desired_matrix[1] = np.array(point_b)
124 |     desired_matrix[2] = np.array(point_c)
125 |     desired_matrix[3] = np.array(point_d)
126 |     desired_matrix[4] = np.array(point_e)
127 |   
128 |     i=5
129 |     while i<drone_number:
130 |         if(i%5==0):
131 |             line1 = re_construct_line(point_a, point_b, len(line1), altitude)
132 |         elif(i%5==1):
133 |             line2 = re_construct_line(point_b, point_c, len(line2), altitude)
134 |         elif(i%5==2):
135 |             line3 = re_construct_line(point_c, point_d, len(line3), altitude)
136 |         elif(i%5==3):
137 |             line4 = re_construct_line(point_d, point_e, len(line4), altitude)
138 |         elif(i%5==4):
139 |             line5 = re_construct_line(point_e, point_a, len(line5), altitude)
140 |         i+=1
141 | 
142 |     
143 |     desired_matrix = np.concatenate((desired_matrix,line1,line2,line3,line4,line5))
144 |     
145 |     transformed_matrix = np.zeros( (drone_number,3) )
146 |     droneIndex=0
147 |     while(droneIndex < drone_number):
148 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
149 |         transformed_matrix[droneIndex][2] = altitude
150 |         droneIndex+=1
151 |     
152 |     return transformed_matrix
153 |     
154 | def set_star_formation(distance,drone_number,init_point,altitude,rotation):
155 |     desired_matrix = np.zeros((10,3))
156 |     line1 = np.zeros((0,3))
157 |     line2 = np.zeros((0,3))
158 |     line3 = np.zeros((0,3))
159 |     line4 = np.zeros((0,3))
160 |     line5 = np.zeros((0,3))
161 |     line6 = np.zeros((0,3))
162 |     line7 = np.zeros((0,3))
163 |     line8 = np.zeros((0,3))
164 |     line9 = np.zeros((0,3))
165 |     line10 = np.zeros((0,3))
166 |     d = distance
167 | 
168 |     point_a = [0,d*0.526,altitude]
169 |     point_b = [d*0.526*m.sin(m.pi/(180/72)),d*0.526*m.cos(m.pi/(180/72)),altitude]
170 |     point_c = [d*0.526*m.cos(m.pi/(180/54)),-d*0.526*m.sin(m.pi/(180/54)),altitude]
171 |     point_d = [-d*0.526*m.cos(m.pi/(180/54)),-d*0.526*m.sin(m.pi/(180/54)),altitude]
172 |     point_e = [-d*0.526*m.cos(m.pi/(180/18)),d*0.526*m.sin(m.pi/(180/18)),altitude]
173 | 
174 |     point_f = [0,-d*1.376,altitude]
175 |     point_g = [-d*1.376*m.sin(m.pi/(180/72)),-d*1.376*m.cos(m.pi/(180/72)),altitude]
176 |     point_h = [-d*1.376*m.cos(m.pi/(180/54)),d*1.376*m.sin(m.pi/(180/54)),altitude]
177 |     point_y = [d*1.376*m.cos(m.pi/(180/54)),d*1.376*m.sin(m.pi/(180/54)),altitude]
178 |     point_z = [d*1.376*m.cos(m.pi/(180/18)),-d*1.376*m.sin(m.pi/(180/18)),altitude]
179 |     
180 |     desired_matrix[0] = np.array(point_a)
181 |     desired_matrix[1] = np.array(point_b)
182 |     desired_matrix[2] = np.array(point_c)
183 |     desired_matrix[3] = np.array(point_d)
184 |     desired_matrix[4] = np.array(point_e)
185 | 
186 |     desired_matrix[5] = np.array(point_f)
187 |     desired_matrix[6] = np.array(point_g)
188 |     desired_matrix[7] = np.array(point_h)
189 |     desired_matrix[8] = np.array(point_z)
190 |     desired_matrix[9] = np.array(point_y)
191 | 
192 |     i=10
193 |     while i<drone_number:
194 |         if(i%10==0):
195 |             line1 = re_construct_line(point_a, point_h, len(line1), altitude)
196 |         elif(i%10==1):
197 |             line2 = re_construct_line(point_h, point_b, len(line2), altitude)
198 |         elif(i%10==2):
199 |             line3 = re_construct_line(point_b, point_g, len(line3), altitude)
200 |         elif(i%10==3):
201 |             line4 = re_construct_line(point_g, point_c, len(line4), altitude)
202 |         elif(i%10==4):
203 |             line5 = re_construct_line(point_c, point_f, len(line5), altitude)
204 |         elif(i%10==5):
205 |             line6 = re_construct_line(point_f, point_d, len(line6), altitude)
206 |         elif(i%10==6):
207 |             line7 = re_construct_line(point_d, point_y, len(line7), altitude)
208 |         elif(i%10==7):
209 |             line8 = re_construct_line(point_y, point_e, len(line8), altitude)
210 |         elif(i%10==8):
211 |             line9 = re_construct_line(point_e, point_z, len(line9), altitude)
212 |         elif(i%10==9):
213 |             line10 = re_construct_line(point_z, point_a, len(line10), altitude)
214 |         i+=1
215 | 
216 | 
217 |         desired_matrix = np.concatenate((desired_matrix,line1,line2,line3,line4,line5,line6,line7,line8,line9,line10))
218 |     
219 |     transformed_matrix = np.zeros( (drone_number,3) )
220 |     droneIndex=0
221 |     while(droneIndex < drone_number):
222 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
223 |         transformed_matrix[droneIndex][2] = altitude
224 |         droneIndex+=1
225 |     
226 |     return transformed_matrix
227 | 
228 | def set_crescent_formation(radius,gap_angle,drone_number,init_point,altitude,rotation):
229 |     center_point=np.array([0,0,0])
230 |     point1 = np.array([radius*m.cos(gap_angle/2),radius*m.sin(gap_angle/2),altitude])
231 |     point2 = np.array([radius*m.cos(gap_angle/2),radius*m.sin(-gap_angle/2),altitude])
232 | 
233 |     desired_matrix = np.zeros((drone_number,3))
234 |     desired_matrix[0] = point1
235 |     desired_matrix[1] = point2 
236 |     
237 |     i=0
238 |     while i<drone_number-2:
239 |        desired_angle = (i+1)*((m.pi*2-gap_angle)/(drone_number-1)) + gap_angle/2
240 |        desired_point = [radius*m.cos(desired_angle),radius*m.sin(desired_angle),altitude]
241 |        desired_matrix[i+2] = desired_point
242 |        i+=1
243 |     transformed_matrix = np.zeros( (drone_number,3) )
244 |     droneIndex=0
245 |     while(droneIndex < drone_number):
246 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
247 |         transformed_matrix[droneIndex][2] = altitude
248 |         droneIndex+=1
249 |     
250 |     return transformed_matrix
251 | 
252 | def set_circle_formation(radius,drone_number,init_point,altitude,rotation):
253 |     center_point=np.array([0,0,altitude])
254 |     point1 = np.array([radius,0,altitude])    
255 |     desired_matrix = np.zeros((drone_number,3))
256 |     desired_matrix[0] = point1
257 |     i=0
258 |     while i<drone_number-1:
259 |        desired_angle = (i+1)*((m.pi*2/(drone_number))) 
260 |        desired_point = [radius*m.cos(desired_angle),radius*m.sin(desired_angle),altitude]
261 |        desired_matrix[i+1] = desired_point
262 |        i+=1
263 |     
264 |     transformed_matrix = np.zeros( (drone_number,3) )
265 |     droneIndex=0
266 |     while(droneIndex < drone_number):
267 |         transformed_matrix[droneIndex] = transformation_2d(desired_matrix[droneIndex], rotation, init_point,altitude)  
268 |         transformed_matrix[droneIndex][2] = altitude
269 |         transformed_matrix[droneIndex][0] = transformed_matrix[droneIndex][0] - (init_point[0]*2)
270 |         transformed_matrix[droneIndex][1] = transformed_matrix[droneIndex][1] - (init_point[1]*2)
271 |         droneIndex+=1
272 |     
273 |     return transformed_matrix
274 | 
275 | print("dsf")
276 | print(set_circle_formation(3,3,[3,3,0],3,0))


--------------------------------------------------------------------------------
/src/menu.py:
--------------------------------------------------------------------------------
  1 | import numpy as np
  2 | from pycrazyswarm import *
  3 | from sub_functions import *
  4 | from formations import *
  5 | from swarm_class import *
  6 | import random
  7 | 
  8 | 
  9 | 
 10 | 
 11 | print("""
 12 | ---- Çoban-Z Swarm Drone Algorithms Control Module ----
 13 | ---------------------------------------------------------
 14 | Attention !! There is a minimum number of drones for each formation
 15 | 
 16 | Triangle --> 3 
 17 | Square --> 4 
 18 | V --> 5
 19 | Pentagon --> 5
 20 | Crescent --> 6
 21 | Star --> 10
 22 | 
 23 | """)
 24 |     
 25 | drone_number = int(input("Please enter how many drones you want to start with : "))
 26 | print("------------------------------------------------")
 27 | print("------------------------------------------------")
 28 | take_off_type = int(input("""If you want simultaneous take off of drones --> 1 
 29 | Teker teker kalkmalarını istiyorsanız --> 2 : 
 30 | """))
 31 | hight = float(input("how many meters high?:  "))
 32 | distance = float(input("enter the distance between elements :  "))
 33 | 
 34 | swarm = Crazyswarm()
 35 | timeHelper = swarm.timeHelper
 36 | allcfs = swarm.allcfs
 37 | swarm.allcfs.takeoff(0,0)
 38 | crazyflies = allcfs.crazyflies[0:drone_number]
 39 | swarm2 = Swarm(crazyflies,timeHelper,allcfs)
 40 | 
 41 | if take_off_type == 1 :
 42 |     swarm2.takeoff_ascyn(hight, 5)
 43 | elif take_off_type == 2:
 44 |     swarm2.takeoff_scyn(hight, 5)
 45 | else :
 46 |     print("you entered wrong")
 47 | 
 48 | 
 49 | 
 50 | if drone_number == 3:
 51 |     print("formations to choose from : ")
 52 |     print("1 --> Triangle ")
 53 | elif drone_number ==4 :
 54 |     print("formations to choose from : ")
 55 |     print("1 --> Triangle ")
 56 |     print("2 --> Square ")
 57 | elif drone_number ==5 :
 58 |     print("formations to choose from : ")
 59 |     print("1 --> Triangle ")
 60 |     print("2 --> Square ")
 61 |     print("3 --> V formation ")
 62 |     print("4 --> Pentagon formation ")
 63 | elif drone_number == 6 :
 64 |     print("formations to choose from : ")
 65 |     print("1 --> Triangle ")
 66 |     print("2 --> Square ")
 67 |     print("3 --> V formation ")
 68 |     print("4 --> Pentagon formation ")
 69 |     print("5 --> Crescent formation ")
 70 |     
 71 | elif drone_number > 6 :
 72 |     print("formations to choose from : ")
 73 |     print("1 --> Triangle ")
 74 |     print("2 --> Square ")
 75 |     print("3 --> V formation ")
 76 |     print("4 --> Pentagon formation ")
 77 |     print("5 --> Crescent formation ")
 78 |     print("6 --> Star formation")
 79 | 
 80 |     
 81 | formation_id = int(input("enter formation number : "))
 82 | 
 83 | 
 84 | if formation_id == 1:
 85 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 86 | elif formation_id == 2:
 87 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 88 | elif formation_id == 3:
 89 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 90 | elif formation_id == 4:
 91 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 92 | elif formation_id == 5:
 93 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 94 | elif formation_id == 6:
 95 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 96 | elif formation_id == 7:
 97 |     swarm2.take_formation(distance,formation_id,hight,0,0)
 98 | 
 99 | cur_x = 0
100 | cur_y = 0
101 | 
102 | while True :
103 |     print("""To update the formation --> 1
104 | For Ascension or Descent --> 2  
105 | For  rotation  --> 3
106 | For navigation --> 4
107 | For swarm separation  --> 5
108 | For Turning Navigation --> 6
109 | For sequential landing --> 7
110 | """)
111 |     selection = int(input("Selection : "))
112 |     if selection == 1 :
113 |         print(""" to add an element --> 1
114 |         to remove element --> 2
115 |         to update the distance between elements --> 3
116 |         to change formation --> 4
117 |         for adding elements while in square formation --> 5
118 |         """)
119 |         selection2 = int(input("Selection : "))
120 | 
121 |         if selection2 == 1 :
122 |             swarm2.add_crazyflie(allcfs.crazyflies[drone_number])
123 |             timeHelper.sleep(5)
124 |             drone_number +=1
125 |             swarm2.take_formation(distance,formation_id,hight,cur_x,cur_y)
126 |         elif selection2 == 2 :
127 |             rastgele = random.randint(0,drone_number-1)
128 |             print("randomly removing element ...")
129 |             swarm2.remove_crazyflie(swarm2.crazyflies[rastgele])
130 |             drone_number = drone_number -1 
131 |             swarm2.take_formation(distance,formation_id,hight,cur_x,cur_y)
132 |         elif selection2 == 3 :
133 |             aralık = int(input("Enter the distance you want between the elements : "))
134 |             distance = aralık
135 |             swarm2.take_formation(aralık,formation_id,hight,cur_x,cur_y)
136 |         elif selection2 == 4 :
137 |             print("formations to choose from : ")
138 |             print("1 --> Triangle ")
139 |             print("2 --> Square ")
140 |             print("3 --> V formation ")
141 |             print("4 --> Pentagon formation ")
142 |             print("5 --> Crescent formation ")
143 |             print("6 --> Star formation")
144 |             print("7 --> Circle formation")
145 | 
146 |             selection3 = int(input("Selection : "))
147 |             formation_id = selection3
148 |             swarm2.change_formation(selection3,distance,cur_x,cur_y)
149 |             
150 |     elif selection  == 2 :
151 |         vertical_move = float(input("To what height do you want to move the Swarm : "))
152 |         swarm2.takeoff_ascyn(vertical_move, 5)
153 |         hight = vertical_move    
154 | 
155 |     elif selection  == 3 :
156 |         rot = int(input("How many degrees do you want to rotate? : "))
157 |         print(cur_x)
158 |         print(cur_y)
159 |         swarm2.rotasyon_3(rot,cur_x, cur_y, hight,distance)
160 |         
161 | 
162 |     elif selection  == 4 :
163 |         x = float(input("Enter the x coordinate of the point you want to navigate : " ))
164 |         y = float(input("Enter the y-coordinate of the point you want to navigate : " ))
165 |         swarm2.navigation_2([x,y,hight],10)
166 |         cur_x = x 
167 |         cur_y = y
168 |         
169 |     elif selection  == 5 :
170 |         print("There must be a minimum of 6 UAVs to make a swarm separation ")
171 |         if drone_number > 5 :
172 |             print("A triangle for testing and another pattern we want :  ")
173 |             sep_swarm = int(input("Please enter the other formation you want "))
174 |             crazyflies_1 = allcfs.crazyflies[0:3]
175 |             crazyflies_2= allcfs.crazyflies[3:drone_number]
176 |             swarm_3,swarm_4 = swarm2.swarm_separate(crazyflies_1, crazyflies_2)
177 |             swarm_3.takeoff_ascyn(hight+1, 10)
178 |             swarm_4.takeoff_ascyn(hight-1, 10)
179 |             swarm_3.take_formation(distance, 1, hight+1, 0, 0)
180 |             swarm_4.take_formation(distance, sep_swarm, hight-1, 0, 0)
181 |             swarm_3.navigation_2([-4,-4,hight+1], 10)
182 |             swarm_4.navigation_2([4,4,hight-1], 10)
183 | 
184 |             print("Reunification is taking place....")
185 |             timeHelper.sleep(10)
186 |             swarm2.take_formation(distance,sep_swarm, hight, 0, 0)
187 |     #not working like expected
188 |     elif selection == 6 :
189 |         point_x = float(input("x : "))
190 |         point_y = float(input("y : "))
191 |         angle = m.atan((point_y-cur_y)/(point_x-cur_x))
192 |         angle = -angle*180/m.pi
193 |         swarm2.rotasyon_3(swarm2.sum_rot+angle, cur_x, cur_y, hight, distance)
194 |         swarm2.navigation_2([point_x,point_y,hight], 10)
195 |         cur_x = point_x
196 |         cur_y = point_y
197 |     elif selection == 7:
198 |         swarm2.takeoff_scyn(0, 5)
199 |         hight = 0
200 |         
201 | 
202 | 
203 | timeHelper.sleep(10)
204 | 
205 | swarm2.change_formation(1)
206 | 
207 | 
208 | timeHelper.sleep(10)
209 | 
210 | 
211 | 
212 | 


--------------------------------------------------------------------------------
/src/sub_functions.py:
--------------------------------------------------------------------------------
  1 | import numpy as np
  2 | from scipy.optimize import linear_sum_assignment
  3 | import math as m
  4 | 
  5 | 
  6 | #theta angle is positive throught to CW.
  7 | def transformation_2d(relative_loc,theta,translation,Z):      
  8 |     relative_matrix = relative_loc
  9 |     relative_matrix[2] = Z
 10 |     relative_matrix = relative_matrix.transpose()
 11 |     rotation_matrix = np.array( [[m.cos(theta),-m.sin(theta),translation[0]] , [m.sin(theta),m.cos(theta),translation[1]],[0,0,1]]) 
 12 |     absolute_matrix = np.matmul(rotation_matrix,relative_matrix)
 13 |     return absolute_matrix
 14 | 
 15 | def inverse_transformation_2d(absolute_loc,theta,translation,Z):      
 16 |     absolute_matrix = absolute_loc
 17 |     absolute_matrix[2] = Z
 18 |     
 19 |     rotation_matrix = np.linalg.inv(np.array( [[m.cos(theta),-m.sin(theta),translation[0]] , [m.sin(theta),m.cos(theta),translation[1]],[0,0,1]])) 
 20 |     relative_matrix = np.matmul(rotation_matrix,absolute_matrix)
 21 |     
 22 |     return relative_matrix
 23 | 
 24 | mat = [[1,1,1],[1+m.sqrt(2),1+m.sqrt(2),1],[1+2*m.sqrt(2),1,1],[1+m.sqrt(2),1-m.sqrt(2),1]]
 25 | i=0
 26 | while i<4:
 27 |     print(inverse_transformation_2d(mat[i],m.pi/4,[1+m.sqrt(2),1,1], 1))
 28 |     i+=1
 29 | #dronların mevcut konumlarından, istenilen diğer konumlara minumum maaliyet ile
 30 | #gitmesini sağlayan fonskiyonlar.
 31 | 
 32 | def cost_for_move(current_loc,desired_loc):
 33 |     return m.sqrt(  pow(desired_loc[0]-current_loc[0],2)  + pow(desired_loc[1]-current_loc[1],2) + pow(desired_loc[2]-current_loc[2],2))
 34 | 
 35 | def hungarian_assigment(current_locs,desired_locs): #np array ver  
 36 |     cost_matrix = np.zeros(shape=(current_locs.shape[0],current_locs.shape[0]))
 37 |     i=0
 38 |     j=0
 39 |     while i < current_locs.shape[0]:
 40 |         while j < desired_locs.shape[0]:
 41 |             cost_matrix[i][j] = cost_for_move(current_locs[i],desired_locs[j])
 42 |             j+=1
 43 |         i+=1
 44 |         j=0
 45 | 
 46 |     row_ind,col_ind = linear_sum_assignment(cost_matrix)
 47 |     opt_ass = col_ind 
 48 |     drons_is_going = np.zeros((desired_locs.shape[0],desired_locs.shape[1])) 
 49 |     j=0
 50 |     print("current")
 51 |     print(current_locs)
 52 |     print("desired_locs")
 53 |     print(desired_locs)
 54 |     while j < current_locs.shape[0]:
 55 |         drons_is_going[j] = desired_locs[opt_ass[j]]
 56 |         j+=1
 57 |     return drons_is_going 
 58 | 
 59 | 
 60 | #a ve b noktaları arasında bir doğru olduğunu düşünelim:
 61 | #bu doğru üzerindeki eleman sayısı number_of_particle paremetresiyle alınır
 62 | #fonksiyon bize aynı doğru üzerinde number_of_particle+1 adet nokta bulunan 
 63 | #eşit aralıkların konumlarını verir.  1 boyutlu düşünecek olursak a=0 ,b =6
 64 | #ve number_of_particle=0 ise fonksiyon bize 3 noktasını verir . eğer number_of_particle=1
 65 | #ise 2 ve 4 noktalarını verir.
 66 | def re_construct_line(a_point, b_point, number_of_particle, altitude):
 67 |     points = np.zeros((number_of_particle + 1, 3))
 68 |     i = 0
 69 |     while i < number_of_particle + 1:
 70 |         j = i + 1
 71 |         points[i] = [a_point[0] + (j * ((b_point[0] - a_point[0]) / (number_of_particle + 2))),
 72 |                      a_point[1] + (j * ((b_point[1] - a_point[1]) / (number_of_particle + 2))), altitude]
 73 |         i += 1
 74 |     return points
 75 | #this for just symetric shapes this is not working exactly etc poligon
 76 | def calc_center(points):
 77 |     x = []
 78 |     y = []
 79 |     z = points[0][2]
 80 |     aralar = []
 81 |     edges = []
 82 |     i=0
 83 |     while i< len(points):
 84 |         x.append(points[i][0])
 85 |         y.append(points[i][1])
 86 |         i+=1
 87 |     maximum_x = max(x)
 88 |     minimum_x = min(x)
 89 |     maximum_y = max(y)
 90 |     minimum_y = min(y)
 91 |     i=0
 92 |     while i<len(points):
 93 |         if ((points[i][0]!= maximum_x and points[i][0]!= minimum_x) and (points[i][1]!= maximum_y and points[i][1]!=minimum_y)):
 94 |             aralar.append(points[i])
 95 |         else:
 96 |             edges.append(points[i])
 97 |         i+=1
 98 |     return [sum(x)/len(x),sum(y)/len(y),z]
 99 | 
100 | def calc_center_3points(point1,point2,point3):
101 |     # Initialize the lists for the abscissae and the ordinates
102 |     x_l=[point1[0],point2[0],point3[0]]
103 |     y_l=[point1[1],point2[1],point3[1]]
104 |     nop = len(x_l)                          # number of points
105 | 
106 |     # Primary raw material
107 |     x = np.array(x_l)                       #numpy array
108 |     y = np.array(y_l)                       #numpy array
109 | 
110 |     x_y = np.multiply(x,y)                  #elementwise multiplication
111 |     x_2 = np.square(x)                      #elementwise square
112 |     y_2 = np.square(y)                      #elementwise square
113 | 
114 |     # Secondary raw material
115 |     x_2_plus_y_2 = np.add(x_2,y_2)          #elementwise addition
116 |     x__x_2_plus_y_2 = np.multiply(x,x_2_plus_y_2)   #elementwise multiplication
117 |     y__x_2_plus_y_2 = np.multiply(y,x_2_plus_y_2)   #elementwise multiplication
118 | 
119 |     # Summations (by default the result of summation is integer)
120 |     sum_x = x.sum(dtype=float)
121 |     sum_y = y.sum(dtype=float)
122 |     sum_x_2 = x_2.sum(dtype=float)
123 |     sum_y_2 = y_2.sum(dtype=float)
124 |     sum_x_y = x_y.sum(dtype=float)
125 |     sum_x_2_plus_y_2 = x_2_plus_y_2.sum(dtype=float)
126 |     sum_x__x_2_plus_y_2 = x__x_2_plus_y_2.sum(dtype=float)
127 |     sum_y__x_2_plus_y_2 = y__x_2_plus_y_2.sum(dtype=float)
128 | 
129 |     # Comment the line below; don't delete. Use for debugging.
130 |     # print sum_x,sum_y,sum_x_2,sum_y_2,sum_x_y,sum_x_2_plus_y_2,sum_x__x_2_plus_y_2,sum_y__x_2_plus_y_2
131 | 
132 |     m3b3 = np.array([[sum_x_2,sum_x_y,sum_x],
133 |             [sum_x_y,sum_y_2,sum_y],
134 |             [sum_x,sum_y,nop]])
135 |     invm3b3 = np.linalg.inv(m3b3)
136 |     m3b1 = np.array([sum_x__x_2_plus_y_2,sum_y__x_2_plus_y_2,sum_x_2_plus_y_2])
137 |     A=np.dot(invm3b3,m3b1)[0]
138 |     B=np.dot(invm3b3,m3b1)[1]
139 |     C=np.dot(invm3b3,m3b1)[2]
140 |     CenterX = A/2
141 |     CenterY = B/2
142 |     Radius = np.sqrt(4*C+A**2+B**2)/2
143 |     return [CenterX,CenterY,Radius]
144 | calc_center_3points([-1,0],[1,0],[m.cos(m.pi/3),m.sin(m.pi/3)])
145 | 
146 | 


--------------------------------------------------------------------------------
/src/swarm_class.py:
--------------------------------------------------------------------------------
  1 | from pycrazyswarm import *
  2 | import numpy as np
  3 | from formations import *
  4 | from sub_functions import *
  5 | 
  6 | class Swarm :  
  7 |     def __init__(self,crazyflies,timeHelper,allcfs):
  8 |         self.crazyflies = crazyflies
  9 |         self.allcfs = allcfs
 10 |         self.numberOfCrazyflies = len(self.crazyflies)
 11 |         self.positions = []
 12 |         self.initial_positions = []
 13 |         self.init_pos(self.allcfs)
 14 |         self.formation_inventory = [set_triang_formation,set_square_formation,set_v_formation,set_pentagon_formation,set_crescent_formation,set_star_formation,set_circle_formation]
 15 |         self.formation =1
 16 |         self.rotation_angle = 0
 17 |         self.timeHelper = timeHelper
 18 |         self.sum_rot = 0
 19 | 
 20 |     def init_pos(self,allcfs):
 21 |         i=0
 22 |         while i<len(self.allcfs.crazyflies):
 23 |            self.initial_positions.append(allcfs.crazyflies[i].position())
 24 |            self.positions.append(allcfs.crazyflies[i].position()) 
 25 |            i+=1
 26 |         print(self.positions)
 27 | 
 28 |     def rotasyon_3(self,angle,x,y,Z,distance):
 29 | 
 30 |         radyan = angle*m.pi/180
 31 |         formation_number = self.formation
 32 |         print(x)
 33 |         print(y)
 34 |         print(Z)
 35 |         print(formation_number)
 36 |         #why /2  ?  this is from experiments
 37 |         if formation_number == 1:
 38 |             desired_locs = set_triang_formation(distance, self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 39 |             
 40 |         elif formation_number == 2:
 41 |             desired_locs = set_square_formation(distance, self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 42 |            
 43 |         elif formation_number == 4:
 44 |             desired_locs = set_pentagon_formation(distance, self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 45 |             
 46 |         elif formation_number == 3:
 47 |             desired_locs = set_v_formation(distance,m.pi/3 ,self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 48 |             
 49 |         elif formation_number == 5:
 50 |             desired_locs = set_crescent_formation(distance, 2*m.pi/3,self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 51 | 
 52 |         elif formation_number == 6:
 53 |             desired_locs = set_star_formation(distance,self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 54 |         elif formation_number == 7:
 55 |             desired_locs = set_circle_formation(distance,self.numberOfCrazyflies,[x/2,y/2,Z], Z,radyan+self.sum_rot)
 56 | 
 57 |      
 58 |         self.update(self.crazyflies)    
 59 |         self.sum_rot +=radyan 
 60 |         self.go(desired_locs,10)
 61 |     
 62 |     def change_formation(self,new_formation,distance,x,y):
 63 |         self.formation = new_formation
 64 |         self.update(self.crazyflies)
 65 |         if new_formation == 1 :
 66 |             self.take_formation(distance,1,self.crazyflies[0].position()[2],x,y)
 67 |         if new_formation == 2 :
 68 |             self.take_formation(distance,2,self.crazyflies[0].position()[2],x,y)
 69 |         if new_formation == 3 :
 70 |             self.take_formation(distance,3,self.crazyflies[0].position()[2],x,y)
 71 |         if new_formation == 4 :
 72 |             self.take_formation(distance,4,self.crazyflies[0].position()[2],x,y)
 73 |         if new_formation == 5 :
 74 |             self.take_formation(distance,5,self.crazyflies[0].position()[2],x,y)
 75 |         if new_formation == 6 :
 76 |             self.take_formation(distance,6,self.crazyflies[0].position()[2],x,y)
 77 |         if new_formation == 7 :
 78 |             self.take_formation(distance,7,self.crazyflies[0].position()[2],x,y)
 79 | 
 80 |         self.update(self.crazyflies)    
 81 |     
 82 |     def takeoff_scyn(self,Z,duration):
 83 |         i=0
 84 |         while i<self.numberOfCrazyflies:
 85 |             self.crazyflies[i].takeoff(0, 0)
 86 |             self.crazyflies[i].goTo([self.crazyflies[i].position()[0],self.crazyflies[i].position()[1],Z],0,duration)
 87 |             i+=1
 88 |             self.timeHelper.sleep(duration)
 89 |         self.update(self.crazyflies)
 90 | 
 91 |     def takeoff_ascyn(self,Z,duration):
 92 |         i=0
 93 |         while i<self.numberOfCrazyflies:
 94 |             self.crazyflies[i].takeoff(0, 0)
 95 |             self.crazyflies[i].goTo([self.crazyflies[i].position()[0],self.crazyflies[i].position()[1],Z],0,duration)
 96 |             i+=1
 97 |         self.timeHelper.sleep(duration)
 98 |         self.update(self.crazyflies)
 99 | 
100 |     
101 |     def take_formation(self,distance,formation_number,Z,x,y):
102 |         if formation_number == 1:
103 |             desired_locs = set_triang_formation(distance, self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
104 |             i=0
105 |             while i < self.numberOfCrazyflies:
106 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
107 |                 i+=1
108 |             self.timeHelper.sleep(10)   
109 |             self.update(self.crazyflies)
110 |             self.formation = 1
111 |         elif formation_number == 2:
112 |             desired_locs = set_square_formation(distance, self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
113 |             i=0
114 |             while i < self.numberOfCrazyflies:
115 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
116 |                 i+=1
117 |             self.timeHelper.sleep(10)   
118 |             self.update(self.crazyflies)
119 |             self.formation = 2
120 |         elif formation_number == 4:
121 |             desired_locs = set_pentagon_formation(distance, self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
122 |             i=0
123 |             while i < self.numberOfCrazyflies:
124 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
125 |                 i+=1
126 |             self.timeHelper.sleep(10)   
127 |             self.update(self.crazyflies)
128 |             self.formation = 4
129 |         elif formation_number == 3:
130 |             desired_locs = set_v_formation(distance,m.pi/3 ,self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
131 |             i=0
132 |             while i < self.numberOfCrazyflies:
133 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
134 |                 i+=1
135 |             self.timeHelper.sleep(10)   
136 |             self.update(self.crazyflies)
137 |             self.formation = 3
138 |         elif formation_number == 5:
139 |             desired_locs = set_crescent_formation(distance, 2*m.pi/3,self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
140 |             i=0
141 |             while i < self.numberOfCrazyflies:
142 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
143 |                 i+=1
144 |             self.timeHelper.sleep(10)   
145 |             self.update(self.crazyflies)
146 |             self.formation = 5
147 |         elif formation_number == 6:
148 |             desired_locs = set_star_formation(distance,self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
149 |             i=0
150 |             while i < self.numberOfCrazyflies:
151 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
152 |                 i+=1
153 |             self.timeHelper.sleep(10)   
154 |             self.update(self.crazyflies)
155 |             self.formation = 6
156 | 
157 |         elif formation_number == 7:
158 |             desired_locs = set_circle_formation(distance,self.numberOfCrazyflies,[x,y,Z], Z,self.sum_rot)
159 |             i=0
160 |             while i < self.numberOfCrazyflies:
161 |                 self.crazyflies[i].goTo(desired_locs[i],0,10)
162 |                 i+=1
163 |             self.timeHelper.sleep(10)   
164 |             self.update(self.crazyflies)
165 |             self.formation = 7
166 | 
167 |     def go(self,coordinats,duration):
168 |         self.update(self.crazyflies)
169 |         i=0
170 |         while i<self.numberOfCrazyflies:
171 |             self.crazyflies[i].goTo(coordinats[i],0,duration)
172 |             i+=1 
173 | 
174 |         self.timeHelper.sleep(duration)
175 |         self.update(self.crazyflies)
176 |     def go_center(self,coordinats,duration):
177 |         i=0
178 |         self.update(self.crazyflies)
179 |         
180 |         while i<self.numberOfCrazyflies:
181 |             self.crazyflies[i].goTo(coordinats,0,duration,True)
182 |             i+=1 
183 | 
184 |         self.timeHelper.sleep(duration)
185 |         self.update(self.crazyflies)
186 | 
187 |     def add_crazyflie(self,crazyflie):
188 |         self.crazyflies = self.allcfs.crazyflies[0:self.numberOfCrazyflies+1]
189 |         self.update(self.crazyflies)
190 |         
191 |     
192 |     def remove_crazyflie(self,crazyflie):
193 |         self.crazyflies.remove(crazyflie)
194 |         self.update(self.crazyflies)
195 |         crazyflie.goTo([0,0,0], 0, 5)   
196 |         self.timeHelper.sleep(5)
197 |         self.update(self.crazyflies)
198 |     
199 |     def navigation(self,points):
200 |         self.update(self.crazyflies)
201 |         cur_poss = np.array(self.positions)
202 |         cur_poss = cur_poss[0:self.numberOfCrazyflies]
203 |         self.update(self.crazyflies)
204 |         if self.formation == 3 or self.formation == 5 :
205 |             des_poss = self.formation_inventory[self.formation-1](0.5,m.pi/3, len(self.crazyflies),points,3,self.rotation_angle)
206 |         else:
207 |             des_poss = self.formation_inventory[self.formation-1](3, len(self.crazyflies), points,3,self.rotation_angle)
208 |         target = hungarian_assigment(cur_poss, des_poss)
209 |         self.go(target, 20)
210 |         
211 |     def navigation_2(self,point,duration):
212 |         self.update(self.crazyflies)
213 |         cur_poss = np.array(self.positions)
214 |         cur_poss = cur_poss[0:self.numberOfCrazyflies]
215 |         center = calc_center(cur_poss)
216 |         target_vector = [point[0]-center[0],point[1]-center[1],point[2]-center[2]]
217 |         if self.formation == 5:
218 |             x,y,rad = calc_center_3points(self.positions[0],self.positions[1],self.positions[2])
219 |             target_vector = [point[0]-x,point[1]-y,point[2]-center[2]]
220 |         self.go_center(target_vector, duration)
221 |         self.update(self.crazyflies)
222 | 
223 | 
224 |     def swarm_separate(self,crazyflies_1,crazyflies_2):
225 |         swarm_1 = Swarm(crazyflies_1, self.timeHelper,self.allcfs)
226 |         swarm_2 = Swarm(crazyflies_2, self.timeHelper,self.allcfs)
227 |         return [swarm_1,swarm_2]
228 | 
229 |     def swarm_join(self,crazyflies):
230 |         return Swarm(crazyflies, self.timeHelper, self.allcfs)
231 | 
232 |     def get_positions(self):
233 |         return self.positions
234 | 
235 |     def set_inventory():
236 |         pass
237 | 
238 |     def update(self,crazyflies):
239 |         self.crazyflies = crazyflies
240 |         self.numberOfCrazyflies = len(self.crazyflies)
241 |         i=0
242 |         while i<self.numberOfCrazyflies:
243 |             self.initial_positions[i] = self.crazyflies[i].initialPosition
244 |             self.positions[i] = self.crazyflies[i].position()
245 |             i+=1
246 | 
247 | 


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