This project develops an indoor testbed for coordinated drone-swarm experiments using a motion-capture (MoCap) system. The MoCap system provides precise position and orientation measurements for each drone, enabling the swarm to operate safely and consistently in a controlled indoor environment where GPS is unavailable.

The testbed supports the development and evaluation of multi-drone coordination methods, including formation control, trajectory tracking, collision avoidance, and collective motion. A shared localization and control workflow allows experiments to be repeated under comparable conditions while the behavior of individual drones and the overall swarm is observed.

The project aims to provide a practical platform for moving swarm algorithms from simulation to physical flight. It brings together motion capture, wireless communication, flight control, and experiment monitoring so that indoor drone-swarm behaviors can be tested and refined.