| description |
|---|
List of open-source algorithms and resources for autonomous drones. The list is a work in progress! |
| Link | Who | Description | ROS |
|---|---|---|---|
| visual-slam-roadmap | Great Roadmap for Visual SLAM | ||
| voxblox | ETH | voxel-based mapping | ✔️ |
| maplab | ETH | visual inertial mapping | ✔️ |
| orb-slam2 | sparse 3D reconstruction | ✔️ | |
| open_vins | U. of Delaware | EKF fuses inertial info with sparse visual features | ✔️ |
| SVO 2.0 | ETH | semi-direct paradigm to estimate pose from pixel intensities and features | ✔️ |
| DSO | TUM | direct sparse odometry | |
| XIVO | UCLA | inertial-aided visual odometry | |
| VINS-Fusion | HKUST | An optimization-based multi-sensor state estimator | |
| Kimera-VIO | MIT | real-time metric-semantic SLAM and VIO | ✔️ |
| tagSLAM | UPenn | tagSLAM with apriltags | ✔️ |
| LARVIO | A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter. | ✔️ | |
| R-VIO | based on robocentric sliding-window filtering-based VIO framework | ||
| nanomap | MIT | fast, uncertainty-aware proximity queries with lazy search of local 3D data | |
| MSCKF_VIO | UPenn | package is a stereo version of MSCKF | |
| VINS_mono | HKUST | Robust and Versatile Monocular Visual-Inertial State Estimator | |
| SLAM_toolbox | Simbe Robotics / Samsung Research | SLAM for massive maps | ✔️ |
| Link | Who | Description | ROS |
|---|---|---|---|
| mav_trajectory_generation | ETH | creates polynomial path | ✔️ |
| mav_voxblox_planning | ETH | planning tool using voxblox (RRT*, etc.) | ✔️ |
| pulp-dronet | ETH | deep learning visual navigation | |
| Ewok: real-time traj replanning | TUM | replanning of global traj, needs prior map | |
| Deep RL with Transfer Learning | Georgia Tech | end-to-end navigation trained from simulation | |
| NVIDIA redtail project | Autonomous navigation for drones | ||
| Fast-Planner | HKUST | robust and efficient trajectory planner for quads | ✔️ |
| ego-planner swarm | Zhejiang University | Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments | |
| spatio-temporal semantic corridor | HKUST | Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor | |
| EVDodgeNet | ETH | obstacle avoidance with event cameras | |
| aeplanner | KTH | unknown environment exploration based on octomap | |
| nvbplanner | ETH | unknown environment exploration | |
| HKUST Aerial Robotics | HKUST | a complete and robust system for aggressive flight in complex environment | |
| sim2real_drone_racing | ETH | deep learning Sim2Real Drone racing | ✔️ |
| waypoint_navigator | ETH | high-level waypoint-following for micro aerial vehicles | ✔️ |
| toppra | Eureka Robotics | Time-Optimal Path Parameterization |
| Link | Who | Description | ROS |
|---|---|---|---|
| neural_mpc | Berkeley | Model Predictive Control with one-step feedforward neural network dynamics model from Model-based Reinforcement Learning | |
| Control Toolbox | ETH | efficient C++ library for control, estimation, optimization and motion planning in robotics | |
| PythonLinearNonlinearControl | library implementing the linear and nonlinear control theories in python | ||
| rpg_mpc | ETH | Model Predictive Control for Quadrotors with extension to Perception-Aware MPC | |
| rpg_quadrotor_control | ETH | alternative to PX4 that works with RotorS | |
| gymFC | flight control tuning framework with a focus in attitude control | ||
| ACADO toolkit | MPC toolkit that takes care of the implementation | ||
| MPC ETH | ETH | also has PX4 implementation (claim badly hacked though) | |
| DDC-MPC | ETH | Data-Driven MPC for Quadrotors | |
| Deep-drone acrobatics | ETH | fly complex maneuvers with multi-layer perceptron | |
| mav_control_rw | ETH | trajectory tracking with MPC | |
| rpg_quadrotor_control | ETH | complete framework for flying quadrotors | |
| flight controller | HKUST | high level controller compatible with DJI N3 flight controller | |
| mavros_trajectory_tracking | combines mav_trajectory_generation and waypoint_navigator with mavros_controller | ✔️ | |
| system identification scripts | ETH | calculates model parameters for a drone | |
| MRS UAV framework | CTU | framework for controlling drones with PX4 and different advanced controllers |
| Lab Website | Git | Where |
|---|---|---|
| Robotics & Perception Group | Link | Zurich, Switzerland |
| GRASP Lab | Link | Philadelphia, USA |
| ZJU FAST Lab | Link | Hangzhou, China |
| HKUST Aerial Robotics Group | Link | Clear Water Bay, Hong Kong |
| Team Aerial Robotics IIT Kanpur | Link | Kanpur, India |