{"repo":"ARYA-mgc/Swayam_Fleet","free":true,"listed":false,"github":"https://github.com/ARYA-mgc/Swayam_Fleet","clone":"git clone https://github.com/ARYA-mgc/Swayam_Fleet.git","description":"Swayam Drone Communication System A modular and lightweight drone communication framework designed for real-time telemetry, command transmission, and system monitoring. This project focuses on building a scalable communication layer for autonomous drones, enabling seamless interaction between onboard systems and ground control interfaces.","language":"Python","stars":17,"topics":["astar","autopilot","gps","ground-control-station","mavlink","multi-drone","path-planning","python","rest-api","sqlite"],"license":"MIT","category":"databases-storage","readme_excerpt":"Swayam — MAVLink Swarm Communication & Fleet Management Swarm Communication System for INS-guided, GPS-independent multi-drone coordination. Developed as part of the NavCore-Pixhawk ecosystem by ARYA-mgc . Multi-rotor drones performing coordinated formation flight — real-world swarm deployment --- Ecosystem Swayam is a module within the NavCore-Pixhawk ecosystem — a collection of repositories for building autonomous, GPS-denied drone systems: Repository Role --- --- NavCore-Pixhawk Core INS navigation, sensor fusion & flight control Swayam Fleet (this repo) Multi-drone swarm coordination, fleet management & GCS relay All modules share a common MAVLink transport layer and are designed to operate together on Pixhawk Cube Orange + Raspberry Pi 4 hardware. --- Features Feature Description --- --- INS Navigation Dead-reckoning via IMU integration — body-to-world frame rotation, gravity compensation, velocity & position tracking. No GPS required. A\\ Path Planning 8-directional A\\ on a 50×50 m occupancy grid with Euclidean heuristic and obstacle inflation. MAVLink Integration SET POSITION TARGET LOCAL NED setpoints, ARM/DISARM, mode switching, SCALED IMU2 telemetry. Works over UDP, TCP, or serial. Fleet Coordination N drones in parallel threads. Broadcast missions or individual assignments. Emergency land all. Aerospace Control Full Cascaded PID position loops, explicit jerk limits, 8Hz D-term LPF, and back-calculation Anti-Windup. Safety Guarantees Control Barrier Functions (CBF) f","default_branch":null,"files":null,"tree":[],"storefront":"/r/ARYA-mgc","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/ARYA-mgc/Swayam_Fleet/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}