ZJU FAST Lab's repositories
ego-planner-swarm
An efficient single/multi-agent trajectory planner for multicopters.
EGO-Planner-v2
Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
Swarm-Formation
Formation Flight in Dense Environments
LBFGS-Lite
LBFGS-Lite: A header-only L-BFGS unconstrained optimizer.
Implicit-SDF-Planner
[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
Elastic-Tracker
Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking
Implicit-SVSDF-Planner
[SIGGRAPH 2024 & TOG]
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
VID-Fusion
VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation
EVA-planner
EVA-planner: an EnVironmental Adaptive Gradient-based Local Planner for Quadrotors.
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
Auto-Filmer
A Videography Planner for Quadrotors
Primitive-Planner
Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives
FACT-Coordinate-Initialization
Open source dode for paper FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarm
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.
Assistive-Racing
A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario
Ground-effect-controller
Ground-Effect-Aware Modeling and Control for Multicopters
Active-Relative-Localization
Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation