Repositories list

• VID-Fusion

  Public
  VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

  C++

  •

  GNU General Public License v3.0

  •2424 forks•143143 stars•11 issue•00 pull requests•Updated Mar 15, 2026Mar 15, 2026

• FSGP_BGK

  Public
  Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process

  C++

  •55 forks•108108 stars•22 issues•00 pull requests•Updated Dec 3, 2025Dec 3, 2025

• DDR-opt

  Public
  Universal Trajectory Optimization Framework for Differential Drive Robot Class

  C++

  •

  GNU General Public License v3.0

  •4747 forks•393393 stars•88 issues•00 pull requests•Updated Dec 2, 2025Dec 2, 2025

• zju-fast-lab.github.io

  Public
  https://zju-fast-lab.github.io/

  TeX

  •

  MIT License

  •22 forks•33 stars•00 issues•00 pull requests•Updated Nov 14, 2025Nov 14, 2025

• Primitive-Planner

  Public
  Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

  C++

  •

  GNU General Public License v3.0

  •1919 forks•176176 stars•33 issues•00 pull requests•Updated Sep 26, 2025Sep 26, 2025

• DPtraj

  Public
  55 forks•9999 stars•11 issue•00 pull requests•Updated Sep 7, 2025Sep 7, 2025

• Radar-Diffusion

  Public
  Python

  •

  MIT License

  •1717 forks•155155 stars•00 issues•00 pull requests•Updated Jul 12, 2025Jul 12, 2025

• Real-Time-SVSDF-Planner

  Public
  Any-shape Real-time Replanning via SVSDF

  C++

  •33 forks•6262 stars•00 issues•00 pull requests•Updated May 5, 2025May 5, 2025

• LF-3PM

  Public
  a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

  11 fork•1616 stars•11 issue•00 pull requests•Updated Apr 18, 2025Apr 18, 2025

• Aerobatic-Planner

  Public
  An autonomous aerobatic system that is capable of complex flight maneuvers.

  C++

  •

  GNU General Public License v3.0

  •1717 forks•146146 stars•33 issues•00 pull requests•Updated Apr 17, 2025Apr 17, 2025

• Ground-effect-controller

  Public
  Ground-Effect-Aware Modeling and Control for Multicopters

  GNU General Public License v3.0

  •22 forks•2727 stars•11 issue•00 pull requests•Updated Mar 26, 2025Mar 26, 2025

• Owner-avatar-Early-report-of-deep-quad-gap-traversal

  Public
  00 forks•1212 stars•00 issues•00 pull requests•Updated Mar 25, 2025Mar 25, 2025

• seb_naver

  Public
  SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain

  C++

  •

  GNU General Public License v3.0

  •44 forks•7878 stars•44 issues•00 pull requests•Updated Mar 13, 2025Mar 13, 2025

• ego-planner-swarm

  Public
  An efficient single/multi-agent trajectory planner for multicopters.

  C++

  •

  GNU General Public License v3.0

  •346346 forks•2k2k stars•3131 issues•22 pull requests•Updated Mar 8, 2025Mar 8, 2025

• ego-planner

  Public
  C++

  •

  GNU General Public License v3.0

  •385385 forks•2.4k2.4k stars•3939 issues•11 pull request•Updated Mar 8, 2025Mar 8, 2025

• FACT-Coordinate-Initialization

  Public
  Open source code for paper FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarm

  C++

  •

  GNU General Public License v3.0

  •11 fork•2222 stars•00 issues•00 pull requests•Updated Dec 25, 2024Dec 25, 2024

• e2e_opt

  Public
  JavaScript

  •

  MIT License

  •00 forks•5252 stars•11 issue•00 pull requests•Updated Dec 17, 2024Dec 17, 2024

• Active-Relative-Localization

  Public
  Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation

  C++

  •

  GNU General Public License v3.0

  •33 forks•2323 stars•00 issues•00 pull requests•Updated Nov 18, 2024Nov 18, 2024

• Implicit-SVSDF-Planner

  Public
  [SIGGRAPH 2024 & TOG]

  optimizationcomputer-graphicspath-planning+ 2

  optimizationcomputer-graphicspath-planningtrajectory-generationswept-volumes

  C++

  •

  MIT License

  •1313 forks•223223 stars•22 issues•00 pull requests•Updated Jul 18, 2024Jul 18, 2024

• Implicit-SDF-Planner

  Public
  [IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

  trajectory-optimizationcollision-avoidanceswept-volumes

  trajectory-optimizationcollision-avoidanceswept-volumes

  C++

  •

  GNU General Public License v3.0

  •2525 forks•266266 stars•11 issue•00 pull requests•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

  •2929 forks•217217 stars•22 issues•00 pull requests•Updated Jun 12, 2024Jun 12, 2024

• Assistive-Racing

  Public
  A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario

  C++

  •33 forks•1717 stars•11 issue•00 pull requests•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++

  •

  GNU General Public License v3.0

  •1919 forks•112112 stars•11 issue•00 pull requests•Updated May 5, 2024May 5, 2024

• FastSim

  Public
  1010 forks•123123 stars•11 issue•00 pull requests•Updated Mar 9, 2024Mar 9, 2024

• Swarm-Formation

  Public
  Formation Flight in Dense Environments

  distributed-systemsmotion-planningswarm+ 5

  distributed-systemsmotion-planningswarmtrajectory-optimizationmulti-robotformation-flightaerial-roboticsspatial-temporal

  C++

  •

  GNU General Public License v3.0

  •8282 forks•540540 stars•44 issues•00 pull requests•Updated Jan 24, 2024Jan 24, 2024

• GPA-Teleoperation

  Public
  dronemotion-planningquadrotor+ 3

  dronemotion-planningquadrotormulticopterteleoperationminco

  C++

  •66 forks•3131 stars•11 issue•00 pull requests•Updated Dec 7, 2023Dec 7, 2023

• EVA-planner

  Public
  EVA-planner: an EnVironmental Adaptive Gradient-based Local Planner for Quadrotors.

  roboticsplanningadaptive

  roboticsplanningadaptive

  C++

  •2323 forks•108108 stars•00 issues•00 pull requests•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++

  •

  GNU General Public License v3.0

  •113113 forks•678678 stars•2121 issues•55 pull requests•Updated Oct 16, 2023Oct 16, 2023

• GCOPTER

  Public
  A General-Purpose Trajectory Optimizer for Multicopters

  navigationmotion-planningquadrotor+ 6

  navigationmotion-planningquadrotortrajectory-optimizationmulticoptercorridorssafe-flight-corridorscorridorminco

  C++

  •

  MIT License

  •209209 forks•1.2k1.2k stars•2020 issues•11 pull request•Updated Oct 15, 2023Oct 15, 2023

• VID-Dataset

  Public
  C++

  •

  GNU Affero General Public License v3.0

  •1313 forks•6161 stars•55 issues•00 pull requests•Updated Sep 18, 2023Sep 18, 2023