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GitHub - KumarRobotics/kr_autonomous_flight: Autonomous flight system for aerial...
source link: https://github.com/KumarRobotics/kr_autonomous_flight
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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
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.
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