Code for Autonomous Drone Race is now available on GitHub

We release Teach-Repeat-Replan, which is a complete and robust system enables Autonomous Drone Race.

Teach-Repeat-Replan can be applied to situations where the user has a preferable rough route but isn't able to pilot the drone ideally, such as drone racing. With our system, the human pilot can virtually control the drone with his/her navie operations, then our system automatically generates a very efficient repeating trajectory and autonomously execute it. During the flight, unexpected collisions are avoided by onboard sensing/replanning. Teach-Repeat-Replan can also be used for normal autonomous navigations. For these applications, a drone can autonomously fly in complex environments using only onboard sensing and planning.

Major components are:

  • Planning: flight corridor generation, global spatial-temporal planning, local online re-planning
  • Perception: global deformable surfel mapping, local online ESDF mapping
  • Localization: global pose graph optimization, local visual-inertial fusion
  • Controlling: geometric controller on SE(3)

Authors: Fei Gao, Boyu Zhou, and Shaojie Shen

Videos: Video1, Video2
Code: https://github.com/HKUST-Aerial-Robotics/Teach-Repeat-Replan

Autonomous drone racing

Autonomous drone racing

Code for VINS-Fusion is now available on GitHub

VINS-Fusion is an optimization-based multi-sensor state estimator, which achieves accurate self-localization for autonomous applications (drones, cars, and AR/VR). VINS-Fusion is an extension of VINS-Mono, which supports multiple visual-inertial sensor types (mono camera + IMU, stereo cameras + IMU, even stereo cameras only). We also show a toy example of fusing VINS with GPS. Features:

  • multiple sensors support (stereo cameras / mono camera+IMU / stereo cameras+IMU)
  • online spatial calibration (transformation between camera and IMU)
  • online temporal calibration (time offset between camera and IMU)
  • visual loop closure.

We are the TOP open-sourced stereo algorithm on KITTI Odometry Benchmark by 12 Jan. 2019.

Authors: Tong Qin, Shaozu Cao, Jie Pan, Peiliang Li and Shaojie Shen

Code: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion

VINS-Fusion

HKUST Aerial Robotics Group

Welcome to the HKUST Aerial Robotics Group led by Prof. Shaojie Shen. Our group is part of the HKUST Robotics Institute.

We develop fundamental technologies to enable aerial robots (or UAVs, drones, etc.) to autonomously operate in complex environments. Our research spans the full stack of aerial robotic systems, with focus on state estimation, mapping, trajectory planning, multi-robot coordination, and testbed development using low-cost sensing and computation components.

Video Highlights



Find more here:

News

Code for Autonomous Drone Race is now available on GitHub

June 30th, 2019

Four papers are accepted by IROS 2019 and one of them will be published in RA-L

June 27th, 2019

A paper is accepted by RA-L

June 5th, 2019

A paper is accepted by T-RO

June 5th, 2019

A paper is accepted by CASE 2019

May 16th, 2019

A paper is accepted by UAVision 2019

April 8th, 2019

A paper receives Honorable Mention status for the 2018 T-RO Best Paper award

April 3rd, 2019

A paper is accepted by T-RO

March 28th, 2019

A paper is accepted by CVPR 2019

February 25th, 2019

A paper is accepted by JFR

February 25th, 2019

Four papers are accepted by ICRA 2019

February 11th, 2019

Prof Shen gave a talk at CMU RI

February 11th, 2019

Code for VINS-Fusion is now available on GitHub

January 14th, 2019

A paper is accepted by RA-L

January 10th, 2019

A paper is accepted by ROBIO 2018

October 18th, 2018

A paper is accepted by IJMAV

October 9th, 2018

A paper is accepted by JFR

October 11th, 2018

Tong Qin wins the IROS 2018 Best Student Paper Award

October 4th, 2018

A paper is accepted by 3DV 2018

July 21st, 2018

A paper is accepted by T-RO

July 20th, 2018

A paper is accepted by ECCV 2018

July 3rd, 2018

Seven papers are accepted by IROS 2018

June 29th, 2018

A paper is accepted by ISER 2018

June 28th, 2018

A paper is accepted by T-RO

May 19th, 2018

A paper is accepted by ETRA 2018

April 26th, 2018

A paper is accepted by IJCAI-ECAI 2018

April 17th, 2018

Two papers are accepted by ICUAS 2018

April 17th, 2018

Four papers are accepted by ICRA 2018

January 12th, 2018

More news