References

Project references

The entire Swarm in Blocks platform developed relies on several existing libraries, packages, and algorithms that have facilitated our development. In this section, we will cover everything we use for the development of our project.

Clover Plataform

Obviously, the whole project was developed based on Clover and everything that was made available to us served as the basis for our project.

COEX Clover Drone kit

COEX Clover oficial page

Languages and Libraries

Our project relied on the majority use of the Python language. However, in addition to it, we made use of Java Script and the C language for the development of some applications. Also, coming out of programming, we use the HTML and CSS markup languages.

In the case of Python, we can emphasize some specific libraries that we have made use of for development.

Libraries	Features
NumPy	Python library for numerical scientific computing.
Matplotlib	Python library for 2D and 3D data visualization, with several graphics and customization options.
OpenCV	Computer vision and real-time image processing library, with support for several programming languages.
Tkinter	Python standard library for creating simple, portable GUIs (Graphical User Interfaces).
WXPythonGenericName	Python GUI library for creating cross-platform desktop applications.
Thread	Python library for concurrent programming, allowing the use of threads for concurrent tasks.

Now, of the libraries linked to ROS, we highlight the use of those listed in the following table.

ROS Libraries	Features
rospy	Client interface in Python for the ROS (Robot Operating System) communication system in robotics.
roslib	Roslib is a Python library for communicating with the ROS (Robot Operating System) framework.
tf2_ros	The tf2_ros library provides a ROS interface to the TensorFlow 2 transformation system.

Github Repositories

In addition to the references already mentioned, some Github repositories inspired us a lot for our applications and deserve to be mentioned:

• Clover- CopterExpress

  • Link: https://github.com/CopterExpress/clover
  • Description: All the basic clover platform, developed by COEX. We used this core repo to make some general improvements in addition to those needed for Swarm in Blocks.

• Blockly- Google

  • Link: https://github.com/google/blockly
  • Description: Before improving, it was necessary to study and understand how Blockly worked in its file base, for that, we used the official Blockly repository, which is very descriptive and intuitive.

• ImageView- Pierriko

  • Link: https://gist.github.com/pierriko/1330022
  • Description: We used the described algorithm as the basis for creating an image Subscriber in the WXPython interface via ROS.

• Gazebo models and worlds collection- Chaolmu

  • Link: https://github.com/chaolmu/gazebo_models_worlds_collection
  • Description: Repository used to get gazebo worlds. We got a world that is prepared for drone racing.

• Interactive web-based terminal

  • Link: https://github.com/EDDYMENS/interactive-terminal
  • Description: Repository with an explanation of the basic fundamentals of creating a web-based terminal using web sockets.