Open-source algorithms and resources

List of open-source algorithms and resources for autonomous drones. The list is a work in progress!

Perception

Link	Who	Description	ROS
visual-slam-roadmap		Great Roadmap for Visual SLAM
voxblox	ETH	voxel-based mapping	✔️
maplab	ETH	visual inertial mapping	✔️
orb-slam2		sparse 3D reconstruction	✔️
open_vins	U. of Delaware	EKF fuses inertial info with sparse visual features	✔️
SVO 2.0	ETH	semi-direct paradigm to estimate pose from pixel intensities and features	✔️
DSO	TUM	direct sparse odometry
XIVO	UCLA	inertial-aided visual odometry
VINS-Fusion	HKUST	An optimization-based multi-sensor state estimator
Kimera-VIO	MIT	real-time metric-semantic SLAM and VIO	✔️
tagSLAM	UPenn	tagSLAM with apriltags	✔️
LARVIO		A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.	✔️
R-VIO		based on robocentric sliding-window filtering-based VIO framework
nanomap	MIT	fast, uncertainty-aware proximity queries with lazy search of local 3D data
MSCKF_VIO	UPenn	package is a stereo version of MSCKF
VINS_mono	HKUST	Robust and Versatile Monocular Visual-Inertial State Estimator
SLAM_toolbox	Simbe Robotics / Samsung Research	SLAM for massive maps	✔️

Navigation

Link	Who	Description	ROS
mav_trajectory_generation	ETH	creates polynomial path	✔️
mav_voxblox_planning	ETH	planning tool using voxblox (RRT*, etc.)	✔️
pulp-dronet	ETH	deep learning visual navigation
Ewok: real-time traj replanning	TUM	replanning of global traj, needs prior map
Deep RL with Transfer Learning	Georgia Tech	end-to-end navigation trained from simulation
NVIDIA redtail project		Autonomous navigation for drones
Fast-Planner	HKUST	robust and efficient trajectory planner for quads	✔️
ego-planner swarm	Zhejiang University	Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
spatio-temporal semantic corridor	HKUST	Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor
EVDodgeNet	ETH	obstacle avoidance with event cameras
aeplanner	KTH	unknown environment exploration based on octomap
nvbplanner	ETH	unknown environment exploration
HKUST Aerial Robotics	HKUST	a complete and robust system for aggressive flight in complex environment
sim2real_drone_racing	ETH	deep learning Sim2Real Drone racing	✔️
waypoint_navigator	ETH	high-level waypoint-following for micro aerial vehicles	✔️
toppra	Eureka Robotics	Time-Optimal Path Parameterization

Controls

Link	Who	Description	ROS
neural_mpc	Berkeley	Model Predictive Control with one-step feedforward neural network dynamics model from Model-based Reinforcement Learning
Control Toolbox	ETH	efficient C++ library for control, estimation, optimization and motion planning in robotics
PythonLinearNonlinearControl		library implementing the linear and nonlinear control theories in python
rpg_mpc	ETH	Model Predictive Control for Quadrotors with extension to Perception-Aware MPC
rpg_quadrotor_control	ETH	alternative to PX4 that works with RotorS
gymFC		flight control tuning framework with a focus in attitude control
ACADO toolkit		MPC toolkit that takes care of the implementation
MPC ETH	ETH	also has PX4 implementation (claim badly hacked though)
DDC-MPC	ETH	Data-Driven MPC for Quadrotors
Deep-drone acrobatics	ETH	fly complex maneuvers with multi-layer perceptron
mav_control_rw	ETH	trajectory tracking with MPC
rpg_quadrotor_control	ETH	complete framework for flying quadrotors
flight controller	HKUST	high level controller compatible with DJI N3 flight controller
mavros_trajectory_tracking		combines mav_trajectory_generation and waypoint_navigator with mavros_controller	✔️
system identification scripts	ETH	calculates model parameters for a drone
MRS UAV framework	CTU	framework for controlling drones with PX4 and different advanced controllers

Labs/Organizations to follow

Lab Website	Git	Where
Robotics & Perception Group	Link	Zurich, Switzerland
GRASP Lab	Link	Philadelphia, USA
ZJU FAST Lab	Link	Hangzhou, China
HKUST Aerial Robotics Group	Link	Clear Water Bay, Hong Kong
Team Aerial Robotics IIT Kanpur	Link	Kanpur, India