  We study the planning and acting phase for the problem of multi-agent path
finding (MAPF) in this paper. MAPF is a problem of navigating agents from their
start positions to specified individual goal positions so that agents do not
collide with each other. Specifically we focus on executing MAPF plans with a
group of Crazyflies, small indoor quadcopters . We show how to modify the
existing continuous time conflict-based search algorithm (CCBS) to produce
plans that are suitable for execution with the quadcopters. The acting phase
uses the the Loco positioning system to check if the plan is executed
correctly. Our finding is that the CCBS algorithm allows for extensions that
can produce safe plans for quadcopters, namely cylindrical protection zone
around each quadcopter can be introduced at the planning level.
