ZJU FAST Lab

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64 repositories

DDR-opt
Public
Universal Trajectory Optimization Framework for Differential Drive Robot Class
C++
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GNU General Public License v3.0
•3•57•0•0•Updated Jan 20, 2025Jan 20, 2025
ego-planner-swarm
Public
An efficient single/multi-agent trajectory planner for multicopters.
C++
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GNU General Public License v3.0
•243•1.3k•21•2•Updated Jan 10, 2025Jan 10, 2025
Aerobatic-Planner
Public
An autonomous aerobatic system that is capable of complex flight maneuvers.
GNU General Public License v3.0
•0•7•0•0•Updated Dec 30, 2024Dec 30, 2024
FACT-Coordinate-Initialization
Public
Open source dode for paper FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarm
C++
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GNU General Public License v3.0
•0•19•0•0•Updated Dec 25, 2024Dec 25, 2024
e2e_opt
Public
JavaScript
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MIT License
•0•30•1•0•Updated Dec 17, 2024Dec 17, 2024
ego-planner
Public
C++
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GNU General Public License v3.0
•306•1.6k•27•1•Updated Nov 20, 2024Nov 20, 2024
Active-Relative-Localization
Public
Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation
C++
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GNU General Public License v3.0
•2•12•0•0•Updated Nov 18, 2024Nov 18, 2024
Radar-Diffusion
Public
Python
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MIT License
•5•93•1•0•Updated Oct 18, 2024Oct 18, 2024
Ground-effect-controller
Public
Ground-Effect-Aware Modeling and Control for Multicopters
GNU General Public License v3.0
•0•12•0•0•Updated Oct 17, 2024Oct 17, 2024
LF-3PM
Public
a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric
0•11•0•0•Updated Oct 16, 2024Oct 16, 2024
Primitive-Planner
Public
Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms
C++
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GNU General Public License v3.0
•0•37•3•0•Updated Sep 2, 2024Sep 2, 2024
Implicit-SVSDF-Planner
Public
[SIGGRAPH 2024 & TOG]
optimization computer-graphics path-planning trajectory-generation swept-volumes
C++
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MIT License
•12•163•2•0•Updated Jul 18, 2024Jul 18, 2024
Implicit-SDF-Planner
Public
[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
trajectory-optimization collision-avoidance swept-volumes
C++
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GNU General Public License v3.0
•24•212•1•0•Updated Jul 18, 2024Jul 18, 2024
uneven_planner
Public
An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain
C++
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BSD 3-Clause "New" or "Revised" License
•20•140•1•0•Updated Jun 12, 2024Jun 12, 2024
Assistive-Racing
Public
A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario
C++
•3•11•1•0•Updated May 11, 2024May 11, 2024
Terrestrial-Aerial-Navigation
Public
An autonomous navigation framework that brings complete autonomy to terrestrial-aerial bimodal vehicles (TABVs)
C++
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GNU General Public License v3.0
•13•89•1•0•Updated May 5, 2024May 5, 2024
FastSim
Public
9•110•0•0•Updated Mar 9, 2024Mar 9, 2024
Swarm-Formation
Public
Formation Flight in Dense Environments
distributed-systems motion-planning swarm trajectory-optimization multi-robot formation-flight aerial-robotics spatial-temporal
C++
•
GNU General Public License v3.0
•65•427•4•0•Updated Jan 24, 2024Jan 24, 2024
GPA-Teleoperation
Public
drone motion-planning quadrotor multicopter teleoperation minco
C++
•6•24•1•0•Updated Dec 7, 2023Dec 7, 2023
VID-Fusion
Public
VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation
C++
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GNU General Public License v3.0
•23•119•1•0•Updated Dec 7, 2023Dec 7, 2023
EVA-planner
Public
EVA-planner: an EnVironmental Adaptive Gradient-based Local Planner for Quadrotors.
planning adaptive robotics
C++
•20•98•0•0•Updated Nov 24, 2023Nov 24, 2023
EGO-Planner-v2
Public
Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
C++
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GNU General Public License v3.0
•80•452•20•1•Updated Oct 16, 2023Oct 16, 2023
GCOPTER
Public
A General-Purpose Trajectory Optimizer for Multicopters
navigation motion-planning quadrotor trajectory-optimization multicopter corridors safe-flight-corridors corridor minco
C++
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MIT License
•162•858•15•1•Updated Oct 15, 2023Oct 15, 2023
VID-Dataset
Public
C++
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GNU Affero General Public License v3.0
•12•55•3•0•Updated Sep 18, 2023Sep 18, 2023
Car-like-Robotic-swarm
Public
Source code for the decentralized car-like robotic swarm
C++
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GNU General Public License v3.0
•23•127•2•0•Updated Jul 28, 2023Jul 28, 2023
Auto-Filmer
Public
A Videography Planner for Quadrotors
C++
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GNU General Public License v3.0
•4•40•2•0•Updated Jun 30, 2023Jun 30, 2023
Dftpav
Public
A lightweight differential flatness-based trajectory planner for car-like robots
C++
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GNU General Public License v3.0
•86•373•8•1•Updated Jun 21, 2023Jun 21, 2023
Elastic-Tracker
Public
Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking
C++
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GNU General Public License v3.0
•25•217•3•1•Updated Jun 16, 2023Jun 16, 2023
LBFGS-Lite
Public
LBFGS-Lite: A header-only L-BFGS unconstrained optimizer.
optimization nonlinear-optimization l-bfgs lbfgs unconstrained-optimization nonsmooth-optimization smooth-functions
C++
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MIT License
•56•334•2•1•Updated May 5, 2023May 5, 2023
mpc-car-tutorial
Public
A tutorial of using MPC (both implementations of nonlinear MPC and linear time-varying MPC) for reference tracking with a bicycle model.
C
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GNU General Public License v3.0
•1•19•0•0•Updated Apr 21, 2023Apr 21, 2023