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kr_autonomous_flight

The goal of this project is to provide a complete autonomy stack for aerial vehicles. We have tested our stack in multiple scenarios, including urban and rural settings.

Check the toolbar on the right for detailed instructions about how to run this code in simulation and real world environments -->

If you use this stack in your work, please cite:

@misc{liu2022largescale,
      title={Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy}, 
      author={Xu Liu and Guilherme V. Nardari and Fernando Cladera Ojeda and Yuezhan Tao and Alex Zhou and Thomas Donnelly and Chao Qu and Steven W. Chen and Roseli A. F. Romero and Camillo J. Taylor and Vijay Kumar},
      year={2022},
      eprint={2109.06479},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

@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}
}