Shaking Problem with Multiple Drones

[ShuqinZ]

While using the Crazyswarm setup with the Vicon system to fly multiple Crazyflies 2 drones using Crazyradio 2, I encountered an issue where the drones shake mid-air. Upon reviewing the terminal output during hover_launch, it appears that the latency in the system is causing this problem.

Initially, I used four markers per drone, but this setup was unsuccessful. When I reduced the number of markers to one per drone, the shaking issue was mitigated, though not completely resolved. I also tried running hover_launch without the visualization interface, which further alleviated the shaking.

Despite these mitigations, the problem persists to some degree. Are there any insights into potential causes of this latency and what adjustments or best practices I should consider when flying multiple drones in this setup?