The system uses a multi-robot aerial testbed to generate indoor radio maps for precise positioning in GPS-denied environments. The core system consists of Crazyflie 2.1 Brushless nano-quadcopters and the Loco Positioning System (LPS) operating in TDoA3 mode, which enables scalable indoor localization using stationary Anchors and onboard Tags. The Flow Deck V2 provides altitude estimation using optical flow and time-of-flight sensing. A Seeed Studio XIAO ESP32S3 Sense module mounted on each drone captures RSSI values, which are fused with localization data to create signal fingerprints for radio map construction
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