ZJU-FAST-Lab/EGO-Planner-v2

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Updated about 1 year ago

ZJU-FAST-Lab/EGO-Planner-v2

ZJU-FAST-Lab

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Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"

EGO-Planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild".

Installation-Free Usage

Please follow the tutorial PDF file with corresponding videos (1, 2, 3, 4) to run the code.

This work was born out of MINCO. If you find it interesting, please give both repos stars generously. Thanks.

ego-planner

Fast-Drone-250

hardware and software design of the 250mm autonomous drone

ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.

GCOPTER

A General-Purpose Trajectory Optimizer for Multicopters

Swarm-Formation

Formation Flight in Dense Environments

Dftpav

A lightweight differential flatness-based trajectory planner for car-like robots

LBFGS-Lite

LBFGS-Lite: A header-only L-BFGS unconstrained optimizer.

Fast-Racing

An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing

sampling-based-path-finding

large_scale_traj_optimizer

Fast (Fastest?) Minimum Snap Trajectory Generation with Analytical Gradient

CMPCC

CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight

Implicit-SDF-Planner

[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

Fast-tracker

am_traj

Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight

Elastic-Tracker

Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking

FAST-Dynamic-Vision

Detecting and Tracking Dynamic Objects with Event and Depth Sensing

Implicit-SVSDF-Planner

[SIGGRAPH 2024 & TOG]

VID-Fusion

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

Car-like-Robotic-swarm

Source code for the decentralized car-like robotic swarm

uneven_planner

An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

FastSim

EVA-planner

EVA-planner: an EnVironmental Adaptive Gradient-based Local Planner for Quadrotors.

TGK-Planner

Terrestrial-Aerial-Navigation

An autonomous navigation framework that brings complete autonomy to terrestrial-aerial bimodal vehicles (TABVs)

Fast-Perching

Real-Time Trajectory Planning for Aerial Perching

kino_sampling_with_regional_opti

3D2M-planner

SDLP

Seidel's LP Algorithm: Linear-Complexity Linear Programming for Small-Dimensional Variables

Radar-Diffusion

SDQP

Small-Dimensional Quadratic Programming in Linear Time

visPlanner

OPNet

Learning Unknown Space for Autonomous Navigation in Clustered Environment

VID-Dataset

VertexEnumeration3D

Fast Vertex Enumeration for 3D Polytopes

forces_resilient_planner

External Forces Resilient Safe Motion Planning for Quadrotor

EDG-TEAM

Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning

std-trees

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning

Auto-Filmer

A Videography Planner for Quadrotors

CertifiableMutualLocalization

laser_simulator

lightweight laser simulator

GPA-Teleoperation

e2e_opt

VID-Flight-Platform

The flight platforn for the VID-Dataset

UnityVisExample

TABV-Platform

A cusomized terrestrial-aerial bimodal vehicle (TABV) platform for terrestrial-aerial autonomous navigation.

Primitive-Planner

Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives

LMBM

Nonsmooth Unconstrained Optimization via Limited Memory Bundle Method

mpc-car-tutorial

A tutorial of using MPC (both implementations of nonlinear MPC and linear time-varying MPC) for reference tracking with a bicycle model.

FACT-Coordinate-Initialization

Open source dode for paper FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarm

OSQP_Interface

An Easy-to-Use OSQP Interface for Convex Quadratic Programming.

Assistive-Racing

A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario

Auto-Param-Adaption

Automatic parameter adaptation for quadrotor trajectory planning

Xsens_driver

GLPK_Interface

An Easy-to-Use GLPK Interface for General-Dimension Linear Programming.

LF-3PM

a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

Active-Relative-Localization

Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation