Go to file
running-mars 37e3ae13be fixed a path problem 2021-07-13 11:13:31 +08:00
communication modify cformation demo based on the paper 2021-06-12 15:51:58 +08:00
contributer_demo demo3_new_code 2021-06-21 16:44:15 +08:00
control add launch file without px4 2021-06-22 17:57:48 +08:00
coordination add 3 contributer demos 2021-06-16 21:36:35 +08:00
images modify architecture image 2021-07-05 20:31:28 +08:00
motion_planning modify param for ego_planner 2021-04-19 10:16:54 +08:00
robocup modify tracking algorithm 2020-11-26 12:18:55 +08:00
sensing modify orbslam2 2021-06-24 16:27:57 +08:00
sitl_config fixed a path problem 2021-07-13 11:13:31 +08:00
.gitignore modify orbslam2 param 2021-06-20 18:08:56 +08:00
.gitmodules modify gitmodules 2020-11-04 18:27:21 +08:00
LICENSE add LICENSE. 2021-02-28 22:47:55 +08:00
README.en.md modify readme 2021-07-05 20:36:23 +08:00
README.md modify readme 2021-07-05 20:36:23 +08:00

README.en.md

XTDrone

Description

XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and other unmanned systems (such as UGVs, USVs and robotic arms). It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform.

Architecture for single vehicle simulation is shown as the below figure. For more details, please see the paper

K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable Multi-rotor UAVs Simulation Platform," 2020 4th International Conference on Robotics and Automation Sciences (ICRAS), 2020, pp. 55-61, doi: 10.1109/ICRAS49812.2020.9134922.

ArXiv preprint arXiv:2003.09700 (2020)

Architecture for multiple vehicle simulation is shown as the below figure. For more details, please see the paper

K. Xiao, L. Ma, S. Tan, Y. Cong, X. Wang: Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform. arXiv preprint arXiv:2005.01125 (2020)

If you use XTDrone for your academic research, please cite our related papers.

Developers can quickly verify algorithms with XTDrone, such as:

Stereo SLAM

Visual Inertial Navigation

Visual Dense Reconstruction

2D Laser SLAM

3D Laser SLAM

2D Motion Planning

3D Motion Planning

Object Detection and Tracking

Formation

Multi-UAV Precision Landing

Fixed wing

VTOL

UGV

USV

User manual

XTDrone Manual

Developing Team

  • Founders: Kun Xiao, Shaochang Tan
  • Adviser: Xiangke Wang
  • Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Qipeng Wang, Xinyu Hu, Ruoqiao Guan, Wenxin Hu, Feng Yi, Jiarun Yan, Yi Bao, Keyan Chen, Gao Chen

Contributers

Sincerely thank you for your contribution to XTDrone.

Changhao Sun, Ying Nie, Fanjie Kong, Chaoran Li, Xudong Li, Huaqing Zhang, Zihan Lin, Yao He

Business cooperation

For commercial inquiries, please contact Kun Xiao robin_shaun@foxmail.com.