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