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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:

  • Collision avoidance with quadrotor demonstrated up to 10 m/s:

    • Hardware demonstration indoor environment
  • Onboard video:

    • Onboard video
  • Simulated through forest at 10 m/s

  • Simulated through forest at 10 m/s

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:

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Flight code for our high-speed quadrotor obstacle avoidance method, as described in this paper:

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