[robotics-worldwide] [software] HKUST Autonomous Drone Racing, code released

Fei, Gao fgaoaa at connect.ust.hk
Sat Jul 6 06:28:57 PDT 2019


Dear colleagues,

We are pleased to announce the release of our aerial system for Autonomous
Drone Racing. This is a complete and robust solution for autonomous and
aggressive drone flights, and can be found here: 
https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_HKUST-2DAerial-2DRobotics_Teach-2DRepeat-2DReplan&d=DwICAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nO8kCBw874X28HDiiOFVNZndGgVTrr4_IrD2cSv_fbg&s=U-5Z6SI6psL1bJUilzRXvnDDhvLNhjcKIUkadtpDS7w&e= 
<https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_HKUST-2DAerial-2DRobotics_Teach-2DRepeat-2DReplan&d=DwICAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nO8kCBw874X28HDiiOFVNZndGgVTrr4_IrD2cSv_fbg&s=U-5Z6SI6psL1bJUilzRXvnDDhvLNhjcKIUkadtpDS7w&e= >  

The released system, Teach-Repeat-Replan, can be applied to situations where
the user has a preferable rough route but isn't able to pilot the drone
ideally, such as drone racing or aerial filming. With our system, the human
pilot can virtually control the drone with his/her navie operations, then
our system automatically generates a very efficient repeating trajectory and
autonomously execute it. During the flight, unexpected collisions are
avoided by onboard sensing/replanning. Teach-Repeat-Replan can also be used
for normal autonomous navigations. For these applications, a drone can
autonomously fly in complex environments using only onboard sensing and
planning.

Our system features:

*Planning: global spatial-temporal planning, local online re-planning
*Perception: global deformable surfel mapping, local online ESDF mapping
*Localization: global pose graph optimization, local visual-inertial fusion
*Controlling: onboard controller, ros-wrapper for DJI autopilot
*Others: human command interfaces, lightweight quadrotor simulation

To learn more, please visit the  Github repo
<https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_HKUST-2DAerial-2DRobotics_Teach-2DRepeat-2DReplan&d=DwICAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nO8kCBw874X28HDiiOFVNZndGgVTrr4_IrD2cSv_fbg&s=U-5Z6SI6psL1bJUilzRXvnDDhvLNhjcKIUkadtpDS7w&e= >  , or check
the preprint here:  Teach-Repeat-Replan: A Complete and Robust System for
Aggressive Flight in Complex Environments <https://urldefense.proofpoint.com/v2/url?u=https-3A__arxiv.org_abs_1907.00520&d=DwICAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nO8kCBw874X28HDiiOFVNZndGgVTrr4_IrD2cSv_fbg&s=eUDt-v--5qEQN7YA0u_wkMgagOdwapIzQDiCTDDUdC8&e= >  



-----
Fei Gao, Ph.D. candidate, 
Robotics Institute,
Department of Electronics and Computer Engineering,
Hong Kong University of Science and Technology
--
Sent from: https://urldefense.proofpoint.com/v2/url?u=http-3A__robotics-2Dworldwide.1046236.n5.nabble.com_&d=DwICAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=nO8kCBw874X28HDiiOFVNZndGgVTrr4_IrD2cSv_fbg&s=1OvoNUwwurUq2Z5rNbSOmc_68mdZ_UuLfmNDXb_zIbs&e= 


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