Teach-Repeat-Replan: An Ultimate Solution to Autonomous Drone

A complete and robust system containing all components for UAV aggressive flight in complex environments. It is built upon on the classical robotics teach-and-repeat framework, which is widely adopted in infrastructure inspection, aerial transportation, and search-and-rescue. Our system can capture users’ intention of a flight mission, convert an arbitrarily jerky teaching trajectory to a guaranteed smooth and safe repeating trajectory, and generate safe local re-plans to avoid unmapped or moving obstacles on the flight.

preprint: Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

Fast-Planner: Advanced Gradient-Based Trajectory Optimization

A quadrotor trajectory generator which combines kinodynamic path search and gradient-based trajectory optimization for fast autonomous flight.

paper: Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight

pointcloudTraj: UAV Planning Directly on Point-clouds

A framework for online generating safe and dynamically feasible trajectories directly on the point clouds.

paper: Flying on Point Clouds: Online Trajectory Generation and Autonomous Navigation for Quadrotor in Cluttered Environments

Btraj: Bezier-Curve-Based Trajectory Generator

An online UAV planning framework used to generate safe, dynamically feasible trajectories in unknown environments.

paper: Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial.

TimeOptimizer: Optimal Time Allocator

A tool to do re-timing (time optimization) of an arbitrary piecewise polynomial-based trajectory (no matter monomial polynomial, Bezier curve, B-spline or others).

paper: Optimal Time Allocation for Quadrotor Trajectory Generation

GTOP: Gradient-Based Trajectory Optimizer

An efficient ROS-package for gradient-based piecewise polynomial trajectory optimization.

paper: Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments.

More source code packages for other papers will be released soon.