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Multi-robot Systems (MRS) group at Czech Technical University in Prague (@ctu-mrs)

ctu-mrs

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mrs_uav_system

The entry point to the MRS UAV system.

RMS

Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation in Degenerated Environments"

ros2_examples

Examples for individual ROS2 functionalities inc. Subscribers, Publishers, Timers, Services, Parameters. ...

uav_core

The main integrator of MRS UAV packages in ROS, part of the "mrs_uav_system".

simulation

The OLD Gazebo Simulation repository.

mrs_uav_controllers

Tracking controllers for UAVs in ROS, part of the "uav_core" package.

mrs_uav_trackers

UAV reference trackers in ROS, part of the "uav_core" package.

summer-school-2022

2022 IEEE RAS Summer School on Multi-Robot Systems

spheremap

mrs_singularity

Singularity definitions, scripts and resources for the MRS UAV System.

space_filling_forest_star

Space-Filling Forest* for milti-goal path planning

mrs_uav_odometry

UAV sensor fusion in ROS, part of the "uav_core" package.

mrs_cheatsheet

Cheatsheet for the "mrs_uav_system", ROS, Linux, Tmux, Vim and more.

mtsp_planning_task

A path-planning task for the summer school based on the Multiple Traveling Salesman Problem (MTSP)

mrs_uav_gazebo_simulation

Metapackage for the MRS UAV Gazebo simulation pipeline.

mrs_gazebo_common_resources

Resources for Gazebo/ROS simulator, part of the "simulation" package.

CTopPRM

slam_datasets

Datasets for laser-based SLAM running on-board UAVs.

summer-school-2023

2023 IEEE RAS Summer School on Multi-Robot Systems

mrs_octomap_mapping_planning

Metapackage containing MRS Octomap-based 3D mapper and planner.

mrs_simulation

The ROS part of the "simulation" package.

mrs_octomap_planner

Octomap-based planner for UAVs.

uvdar_core

UVDAR is a system for mutual UAV localization using Ultra-Violet LED blinkers. This package contains the core software for using it onboard of MAVs (drones)

mrs_uav_managers

High-level UAV managers in ROS, part of the "uav_core" package.

mrs_computer_vision_examples

Example ROS package for computer vision, part of the "mrs_uav_system".

ouster

Modified Ouster lidar driver. Changed to nodelet structure.

pacnav

This repository contains the TMUX scripts to run the Gazebo simulations and real-world experiments for the paper entitled "PACNav: A Communication and External Localization Free Collective Swarm of UAVs"

EnergyAwareMCPP

Energy-aware Multi-UAV Coverage Mission Planning with Optimal Speed of Flight

leader_follower_task

Seminar task for the MRS Summer school 2020. The goal is to develop a controller for a follower drone in order to keep up with an evading leader drone.

uvdar_leader_follower

Part of the leader_follower_task. All your coding and changes should happen in this package

object_detect

A ROS node for detection of colorful objects using LUT segmentation.

mrs_multirotor_simulator

Minimalistic ROS node for simulating quadrotor dynamics, part of the "mrs_uav_core" package.

mrs_uav_status

TUI status & control bar for UAVs in ROS, part of the "uav_core" package.

mrs_lib

UAV C++ libraries, mostly ROS-related, part of the "mrs_uav_core" package.

uav_localize

Implementation of a multi-target tracking and filtering and multi-source fusion algorithm.

uav_detect

Marker-less UAV detection project.

aerialcore_simulation

Gazebo models and worlds for Aerial-Core project.

mrs_serial

A serial line interface to ROS. Communicates using the BACA protocol.

mrs_rviz_plugins

Custom RVIZ plugins. Part of the "mrs_uav_core".

example_ros_uav

Example ROS package that showcases the work with the "mrs_uav_system".

mrs_bumper

Aggregator of sensor data for robot obstacle bumper. Part of the "uav_core" package.

mrs_msgs

MRS ROS messages, part of the "uav_core" package.

mrs_vins_imu_filter

Filtering of IMU data to be used in VINS algorithms

mrs_octomap_tools

Tools for OctoMap visualization and manipulation.

mrs_core_examples

Integrates other example packages. Part of the "mrs_uav_system".

coop_uav_dataset

Heterogeneous UAV dataset

mbzirc_2020_wall_building

Mission control, Visual detection, Estimation, Mapping and Planning for the wall building challenge of the MBZIRC 2020 competition.

subt_ign_resources

Model and world files for ignition Gazebo related to the DARPA SubT Virtual Challenge

mrs_uav_core

ROS metapackage for UAV control, state estimation, trajectory generation and tracking.

mrs_uav_unreal_simulation

mrs_gazebo_extras_resources

Resources for Gazebo/ROS simulator that depends on packages (e.g., mrs_msgs, mrs_lib) inside of the MRS system. This is additional part to the "simulation" package.

repredictor

Implementation of the re-prediction algorithm for fusion of variably delayed data.

mrs_uav_state_estimators

UAV state estimators in ROS, part of the "mrs_uav_core" package.

difec-ron

Distributed formation-enforcing control for UAVs robust to observation noise in relative pose measurements

mrs_optic_flow

Optic flow for UAV odometry in ROS.

thesis_template

Bachelor's / Master's / Doctoral Thesis LaTeX template.

vision_datasets

mrs_pcl_tools

Package grouping smaller nodes for processing, filtering, and general online/offline work with pointclouds.

uvdar_gazebo_plugin

Gazebo plugin for emulating the output of UV-sensitive cameras with fisheye lenses

summer_school_supervisor

A supervisor node for the leader-follower summer school task. Makes sure, that commands produced by the Follower node are reasonable.

bluefox3_ros

a ROS driver for the mvBlueFOX3 cameras

mrs_hw_uvdar

Hardware for UVDAR.

mrs_utils

px4_interface

Interface between PX4 and the MRS UAV System.

ctu-mrs.github.io

CTU MRS system Github pages.

mrs_uav_coppelia_simulation

Coppelia simulation metapackage.

ppa-stable

Personal Package Archive (PPA) for MRS deb packages.

uav_modules

The OLD UAV Modules.

image_labeling_utils

mrs_open_vins_estimator_plugin

State estimation plugin based on corrections from the open-vins algorithm. Can be loaded by EstimationManager to be used for state estimation in the control feedback loop.

vns-prm-pop

Implementation of Variable Neighborhood Search with asymptotically optimal sampling-based Probabilistic Roadmap for the Physical Orienteering Problem - a problem of planning collision-free trajectory for e.g. a drone that visits predefined target locations in an environment with obstacles

mrs_uav_hw_api

Abstraction layer between the MRS UAV System and a UAV flight controller, part of the "mrs_uav_core" package.

darpa_subt_cnn_training

mrs_manipulator

sketch4latex

A clone / fork of the Sketch for Latex tool by Eugene Ressler

mrs_mavros_interface

An interface to Mavros, part of the "uav_core" package.

buildfarm_coredumps

vns_dopn

Variable Neighborhood Search for the Dubins Orienteering Problem with Neighborhoods

mrs_subt_planning_lib