Repositories list

• VID-Fusion

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

  C++

  •

  GNU General Public License v3.0

  •23•141•1•0•Updated Mar 15, 2026Mar 15, 2026

• FSGP_BGK

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

  C++

  •5•97•2•0•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

  •45•380•8•0•Updated Dec 2, 2025Dec 2, 2025

• zju-fast-lab.github.io

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

  TeX

  •

  MIT License

  •2•2•0•0•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

  •19•170•3•0•Updated Sep 26, 2025Sep 26, 2025

• DPtraj

  Public
  5•96•1•0•Updated Sep 7, 2025Sep 7, 2025

• Radar-Diffusion

  Public
  Python

  •

  MIT License

  •16•151•0•0•Updated Jul 12, 2025Jul 12, 2025

• Real-Time-SVSDF-Planner

  Public
  Any-shape Real-time Replanning via SVSDF

  C++

  •3•58•0•0•Updated May 5, 2025May 5, 2025

• LF-3PM

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

  1•16•1•0•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

  •14•138•3•0•Updated Apr 17, 2025Apr 17, 2025

• Ground-effect-controller

  Public
  Ground-Effect-Aware Modeling and Control for Multicopters

  GNU General Public License v3.0

  •2•27•1•0•Updated Mar 26, 2025Mar 26, 2025

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

  Public
  0•12•0•0•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

  •5•76•3•0•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

  •337•2k•30•3•Updated Mar 8, 2025Mar 8, 2025

• ego-planner

  Public
  C++

  •

  GNU General Public License v3.0

  •383•2.4k•38•1•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

  •1•22•0•0•Updated Dec 25, 2024Dec 25, 2024

• e2e_opt

  Public
  JavaScript

  •

  MIT License

  •0•51•1•0•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

  •3•23•0•0•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

  •12•220•2•0•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

  •25•264•1•0•Updated Jul 18, 2024Jul 18, 2024

• uneven_planner

  Public
  An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •28•214•2•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•17•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++

  •

  GNU General Public License v3.0

  •19•112•1•0•Updated May 5, 2024May 5, 2024

• FastSim

  Public
  10•122•1•0•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

  •81•532•4•0•Updated Jan 24, 2024Jan 24, 2024

• GPA-Teleoperation

  Public
  dronemotion-planningquadrotor+ 3

  dronemotion-planningquadrotormulticopterteleoperationminco

  C++

  •6•31•1•0•Updated Dec 7, 2023Dec 7, 2023

• EVA-planner

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

  roboticsplanningadaptive

  roboticsplanningadaptive

  C++

  •22•107•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++

  •

  GNU General Public License v3.0

  •109•660•21•5•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

  •206•1.2k•20•1•Updated Oct 15, 2023Oct 15, 2023

• VID-Dataset

  Public
  C++

  •

  GNU Affero General Public License v3.0

  •13•61•5•0•Updated Sep 18, 2023Sep 18, 2023