We present a new plug-in for the ARGoS swarm robotic simulator to implement the Crazyflie drone, including its controllers, sensors, and some expansion decks. We have based our development on the former Spiri drone, upgrading the position controller, adding a new speed controller, LED ring, onboard camera, and battery discharge model. We have compared this new plug-in in terms of accuracy and efficiency with data obtained from real Crazyflie drones. All our experiments showed that the proposed plug-in worked well, presenting high levels of accuracy. We believe that this is an important contribution to robot simulations which will extend ARGoS capabilities through the use of our proposed, open-source plug-in.

翻译：我们提出了一种新的ARGoS群体机器人模拟器插件，用于实现疯狂飞无人机，包括其控制器、传感器及部分扩展模块。我们的开发工作基于先前的Spiri无人机，升级了位置控制器，新增了速度控制器、LED灯环、机载摄像头及电池放电模型。我们通过实际疯狂飞无人机的数据，对比了该插件在精度与效率方面的表现。所有实验表明，提出的插件性能良好，具有较高的精度。我们相信，这项成果对机器人模拟领域具有重要意义，通过使用我们提出的开源插件，将扩展ARGoS的模拟能力。