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ROS2 package that implements a nonlinear model predictive control (NMPC) pipeline for trajectory tracking for aerial vehicles that use the PX4 Autopilot
Offical code release for DynoSAM: Dynamic Object Smoothing And Mapping [Submitted TRO Visual SLAM SI]. A visual SLAM framework and pipeline for Dynamic environements, estimating for the motion/pose…
A python library to facilitate interaction with Onshape's REST API
Tools for handling firmwares of DJI products, with focus on quadcopters.
[IEEE RA-L'24] Dynamic Obstacle Detection and Tracking (DODT) algorithm for Autonomous Robots (C++/ROS)
[T-RO 24] Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Optimal Convex Cover to Approximate Collision-free Space
Semantic DSP Map in paper "Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments"
Open-source code for the RA-L paper "Star-Searcher: An Efficient Aerial System for Target Search in Unknown Environments".
GLIM: versatile and extensible range-based 3D localization and mapping framework
Online deadlock-free multi-agent trajectory planner using linear safe corridor (LSC)
[IROS'24 Oral] Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction
Modular visual interface for GDB in Python
Community repo for the Tropic drone FMU VMU based on Teensy
Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights (ICRA2024)
"Fast Multi-UAV Decentralized Exploration of Forests", RAL 2023
Dynamic Autonomous Exploration Planner (DAEP)
[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)
Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots
RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance