unmanned aerial vehicles

PX4 avoidance ROS node for obstacle detection and avoidance

Swarm-Formation is a distributed swarm trajectory optimisation framework for formation flight in dense environments.

• A differentiable graph-theory-based cost function that effectively describes the interaction topology of robots and quantifies the similarity distance between three-dimensional formations.
• A spatial-temporal optimization framework with a joint cost function that takes formation similarity, obstacle avoidance, and dynamic feasibility into account, which makes the swarm robots possess the ability to move in formation while avoiding obstacles.

An efficient single/multi-agent trajectory planner for multicopters.

Indoor Navigation System based on Multi-Pixel Time-of-Flight Imaging for Nano-Drone Applications