This is the autonomous flight code stack used at KumarRobotics, providing a complete solution for GPS-denied quadcopter autonomy. It has been tested extensively in challenging urban and rural (under forest canopy) environments.
High-level Code Structure
Documentation and Instructions
Please refer to our Wiki page for detailed instructions about how to use this code.
Videos
Real-world experiments on large-scale autonomous flight and semantic SLAM in forests: 3-min video-only version and 5-min voice-over version
Experiments in fast, autonomous, GPS-Denied quadrotor flight
Simulation experiments on fast autonomous flight in urban and rural environments
Contributing
Report issues: Open an issue on Github.
Merge code changes: Open a pull request on Github.
Citation
If you use this stack in your work, please cite:
@inproceedings{liu2022large,
title={Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy},
author={Liu, Xu and Nardari, Guilherme V and Ojeda, Fernando Cladera and Tao, Yuezhan and Zhou, Alex and Donnelly, Thomas and Qu, Chao and Chen, Steven W and Romero, Roseli AF and Taylor, Camillo J and Kumar, Vijay},
journal={IEEE Robotics and Automation Letters (RA-L)},
year={2022}
}
@article{mohta2018fast,
title={Fast, autonomous flight in GPS-denied and cluttered environments},
author={Mohta, Kartik and Watterson, Michael and Mulgaonkar, Yash and Liu, Sikang and Qu, Chao and Makineni, Anurag and Saulnier, Kelsey and Sun, Ke and Zhu, Alex and Delmerico, Jeffrey and others},
journal={Journal of Field Robotics},
volume={35},
number={1},
pages={101--120},
year={2018},
publisher={Wiley Online Library}
}
License
This code is released using the Penn Software Licence.
Please refer to LICENSE.txt
for details.