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This paper concerns SLAM and exploration for a swarm of nano-UAVs. The laserrange finder-based tinySLAM algorithm is used to build maps of the environment.The maps are synchronized using an iterative closest point algorithm. The UAVsthen explore the map by steering to points selected by a modified dynamiccoverage algorithm, for which we prove a stability result. Both algorithmsinform each other, allowing the UAVs to map out new areas of the environmentand move into them for exploration. Experimental findings using the nano-UAVCrazyflie 2.1 platform are presented. A key challenge is to implement allalgorithms on the hardware limited experimental platform.

tinySLAM-based exploration with a swarm of nano-UAVs