Fast-Tracker is a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The open-source project releases the tracking algorithm with a simulation of a car-tracking scenario as a demo.
Related Paper: Fast-Tracker: A Robust Aerial System for Tracking AgileTarget in Cluttered Environments, Zhichao Han*, Ruibin Zhang*, Neng Pan*, Chao Xu, Fei Gao, International Conference on Robotics and Automation (ICRA 2021)
Code Link: https://github.com/ZJU-FAST-Lab/Fast-tracker
External Forces Resilient Planner is a systematic motion planning framework that can resiliently generate safe trajectories under volatile external forces. This work integrates our previous work, VID-Fusion as the external force estimator.
Related Paper: External Forces Resilient Safe Motion Planning for Quadrotor, Yuwei Wu, Ziming Ding, Chao Xu, Fei Gao, submitted to IEEE Robotics and Automation Letter (RA-L).
VID-Fusion is a work to estimate odometry and external force simultaneously by a tightly coupled Visual-Inertial-Dynamics state estimator. The open source project releases the code of VID-Fusion, along with an experimental dataset in the real word.
Related Paper: VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation, Ziming Ding, Tiankai Yang, Kunyi Zhang, Chao Xu, and Fei Gao, International Conference on Robotics and Automation (ICRA 2021)
Code Link: https://github.com/ZJU-FAST-Lab/VID-Fusion