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@TIERS

TIERS

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tiers-lidars-dataset

Multi-modal multi-lidar dataset

wildnav

GNSS-Free drone navigation and localization in the wild

tiers-lidars-dataset-enhanced

multi-modal-loam

Multi-Modal Multi-Lidar-Inertial Odometry and Mapping Implementation

uwb-drone-dataset

Ultra-wideband (UWB) Localization for Autonomous UAV Flight in GNSS-denied Environments

multi_lidar_multi_uav_dataset

tello-ros2-gazebo

ros-dwm1001-uwb-localization

UWB-Based Localization with Decawave's DWM1001 UWB Transceivers, specifically the DWM1001-DEV boards.

ws-lidar-as-camera-odom

offboard-control

Offboard controller for PX4 flight controllers with MAVROS. Uses UWB+VIO for localizartion in GNSS-denied environments.

lidar-as-a-camera

Analysis of object detectors and image segmentation models on images from lidar sensors

Jupyter Notebook

uwb-vio-lidar-fusion

A dataset and basic ROS nodes for localization in GNSS-Denied environments with 3D lidar, visual-inertial odometry (T265 camera) and ultra-wideband modules (DWM1001 with Decawave's and custom firmware)

dwm1001-uwb-firmware

Custom localization and calibration firmware for Decawave's DWM1001 Ultra-Wideband modules

uwb-cooperative-mrs-localization

This repo contains ROS nodes that implement a relative Monte-Carlo multi-robot localization method by fusing UWB range measurements with odometry estimations and cooperative spatial detections.

Jupyter Notebook

mrs-uwb-sim

Gazebo simulations for modelling and testing relative UWB-based localization in heterogeneous multi-robot systems.

isaac-marl-mobile-manipulation

Multi-Agent Reinforcement Learning for Mobile Manipulation with NVIDIA Isaac Sim

drone-racing

Gazebo simulator with Hector quadrotor for training drone racing. The races are later done with a Tello drone controlled via ROS.

Jupyter Notebook

dynamic_scan_tracking

This is the code implementation for the paper UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration.

UAV-tracking-based-on-LiDAR-as-a-camera

UAV-tracking-based-on-LiDAR-as-a-camer

Jupyter Notebook

uwb-collaborative-sensing

Collaborative sensing in heterogeneous multi-robot systems with collaborative UWB-based localization.

scalable-mav-swarm-with-ros2-batman-uwb

ros-tello-swarm-network-namespaces

Create drone swarms using Tello drones with ROS (even with the basic Tello model). Formation control is possible with either UWB-based positioning or onboard odomtry (for simple scenarios).

adaptive-lidar-tracking

Tracking MAVs from ground robots with adaptive lidar scan integration

dynamic-uwb-firmware

Firmware for Decawave DWM1001-Dev devices: ToF and TDoA localization

uwb-graph-rigidity-ros

ROS Nodes for collaborative localization and graph rigidity based on UWB ranging

collab_mapping

A Gazebo simulation to illustrate a Distributed Byzantine Tolerant Collabarative Mapping smart contract.

ros2-fabric-integration

Examples for Integrating ROS 2 and Hyperledger Fabric

active-passive-uwb-ros

ROS Nodes for active (ToF) and passive (TDoA) localization using UWB modules

partially-observable-marl

Exploring partial observability in Multi-Agent Reinforcement Learning

fabric-edge-node-selector

Hyperledger Fabric Smart Contracts and Application for Edge Node selection

uwb-tello-swarm

UWB-Enabled Tello Swarm

fabric2rosnodejs

fabric bridge for ros 2

drone_racing_ros2