  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.
