Zhefan Xu

NavRL. [IEEE RA-L'25] NavRL: Learning Safe Flight in Dynamic Environments (NVIDIA Isaac/Python/ROS1/ROS2)

CERLAB-UAV-Autonomy. [CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)

isaac-go2-ros2. Unitree Go2 simulation platform for testing navigation, decision-making and autonomous tasks. (NVIDIA Isaac/ROS2)

LV-DOT. LV-DOT: LiDAR-Visual Dynamic Obstacle Detection and Tracking (C++/Python/ROS)

onboard_detector. [IEEE RA-L'24] Dynamic Obstacle Detection and Tracking (DODT) algorithm for Autonomous Robots (C++/ROS)

Intent-MPC. [IEEE RA-L'25] Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments (C++/ROS)

trajectory_planner. Trajectory Planning Library for Autonomous Robots (C++/ROS).

map_manager. 3D Mapping Library for Autonomous Robots (C++/ROS)

uav_simulator. Lightweight Gazebo/ROS-based Simulator for Unmanned Aerial Vehicles (C++/ROS/PX4)

tracking_controller. Trajectory Tracking Controller for Autonomous Robots (C++/ROS/PX4)

autonomous_flight. Autonomous Flight Package for Various Indoor UAV Tasks (C++/ROS/PX4)

DEP. [IEEE RA-L & ICRA'21] Autonomous UAV Exploration in Dynamic Environment [DEP] (C++/ROS)

time_optimizer. [IEEE ICRA'24] Optimal Trajectory Time Allocation Library for Autonomous Robots (C++/ROS)

trajectory_optimization. [IEEE ICRA'22] DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles (C++/ROS)

global_planner. Global Waypoint Planner Library for Autonomous Robots (C++/ROS).

camera-imu-calibration-guide. Shell

VINS-PX4. Modified VINS-Mono/Fusion compatibale with PX4

lidar_detection. Real-Time 3D Lidar Detection in ROS

cerlab_uav. C++

UAV-Visual-Inertial-Odometry-SLAM.

remote_control. Rviz Configuration and Launch Files for Easy Visualization

realsense-ros. modified version for better depth estimation

aeplanner. C++

CERLAB-UAV-Hardware.

drone_gazebo. Python

viplanner. ViPlanner: Visual Semantic Imperative Learning for Local Navigation

vins-application. VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards

gmapping. Python

path_planning. Quadcopter path planning using RRT* and minimum jerk trajectory generation

catkin_ws. C++

reinforcement-learning. Implementation of Reinforcement Learning Algorithms. Python, OpenAI Gym, Tensorflow. Exercises and Solutions to accompany Sutton's Book and David Silver's course.

traj_gen. Optimal trajectory generation library given equality and inequality constraints (C++/Matlab)

cadrl_ros. ROS package for dynamic obstacle avoidance for ground robots trained with deep RL

Jetson-Xavier-NX-Setup.

agile_autonomy. Repository Containing the Code associated with the Paper: "Learning High-Speed Flight in the Wild"

uv_detector. fast RGBD obstacle detector

nmpc_planner. benchmark

go2_omniverse. Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)

obstacle_detection. C++

FastestDet. :zap: A newly designed ultra lightweight anchor free target detection algorithm， weight only 250K parameters， reduces the time consumption by 10% compared with yolo-fastest, and the post-processing is simpler

FCRN_pytorch. Pytorch Implementation of Deeper Depth Prediction with Fully Convolutional Residual Networks

help. history-aware exploration learning planner (HELP)

Fast-Drone-250. hardware design of the 250mm drone