# quadrotor-collision-avoidance

**Repository Path**: tcz1237/quadrotor-collision-avoidance

## Basic Information

- **Project Name**: quadrotor-collision-avoidance
- **Description**: Flight code for our high-speed quadrotor obstacle avoidance method, as described in this paper:
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-08-25
- **Last Updated**: 2024-07-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# High-Speed-Collision-Avoidance

- Note that this repo is not always up to date.  The rest of the project code lives in a private BitBucket repo -- please contact me (info at bottom) if you have any questions.

This code powers:

-  [Our 2016 WAFR paper](http://groups.csail.mit.edu/robotics-center/public_papers/Florence16.pdf) (Workshop on the Algorithmic Foundations of Robotics)
* Collision avoidance with quadrotor demonstrated up to 10 m/s:
  * [![Hardware demonstration indoor environment](http://img.youtube.com/vi/L78G97EtTpQ/0.jpg)](https://www.youtube.com/watch?v=L78G97EtTpQ)


* Onboard video:
  * [![Onboard video](http://img.youtube.com/vi/bDlwpHqPLTA/0.jpg)](https://www.youtube.com/watch?v=bDlwpHqPLTA)
 
* Simulated through forest at 10 m/s
 * [![Simulated through forest at 10 m/s](http://img.youtube.com/vi/_Apke1HKbXY/0.jpg)](https://www.youtube.com/watch?v=_Apke1HKbXY)


Implements:

- A discrete motion primitive library
- Methods for choosing from motion primitives based on specified objectives
- Methods for evaluating collision probability against a depth image / point cloud

Maintainer:

- pete.florence@csail.mit.edu