High-Speed-Collision-Avoidance

• Note that this repo is not always up to date. The rest of the project code lives in a private BitBucket repo -- please contact me (info at bottom) if you have any questions.

This code powers:

• Our 2016 WAFR paper (Workshop on the Algorithmic Foundations of Robotics)

• Collision avoidance with quadrotor demonstrated up to 10 m/s:

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• Onboard video:

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• Simulated through forest at 10 m/s

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Implements:

• A discrete motion primitive library
• Methods for choosing from motion primitives based on specified objectives
• Methods for evaluating collision probability against a depth image / point cloud

Maintainer:

• pete.florence@csail.mit.edu