Sanity: An Agile Brushless Quadrotor for Multi-Agent Experiments

Heedo Woo, Kazi Ragib Ishraq Sanim, Keisuke Okumura, Guang Yang, Ajay Shankar, Amanda Prorok

Abstract: This paper introduces Sanity, a quadrotor platform designed for rapid multi-agent research. Building on off-the-shelf components, the 72g brushless-motor platform with WiFi and dual-processor compute achieves a 6.9 thrust-to-weight ratio and speeds over 6m/s indoors. It offers ease of deployment, with its reliability demonstrated through successful missions involving teams of up to 20 agents flying simultaneously at high speeds.