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 equipment (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, see the paper
Xiao, K., Tan, S., Wang, G., An, X., Wang, X., Wang, X.: XTDrone: A Customizable Multi-rotor UAVs Simulation Platform. arXiv preprint arXiv:2003.09700 (2020)
Architecture for multiple vehicle simulation is shown as the below figure. For more details, see the paper
Xiao, K., Ma, L., Tan, S., Cong, Y., Wang, X.: Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform. arXiv preprint arXiv:2005.01125 (2020)
Developers can quickly verify algorithms with XTDrone, such as:
Visual Inertial Navigation
Visual Dense Reconstruction
2D Laser SLAM
3D Laser SLAM
2D Motion Planning
3D Motion Planning
Object Detection and Tracking
Multi-UAV Precision Landing
Sincerely thank you for your contribution to XTDrone.
Changhao Sun, Zihan Lin, Yao He
：Code submit frequency
：React/respond to issue & PR etc.
：Well-balanced team members and collaboration
：Recent popularity of project
：Star counts, download counts etc.