Repositories list

• VID-Fusion

  Public

  ZJU-FAST-Lab/VID-Fusion’s past year of commit activity
  VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

  C++

  •

  GNU General Public License v3.0

  •23•132•1•0•Updated Oct 16, 2025Oct 16, 2025

• Primitive-Planner

  Public

  ZJU-FAST-Lab/Primitive-Planner’s past year of commit activity
  Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

  C++

  •

  GNU General Public License v3.0

  •13•131•3•0•Updated Sep 26, 2025Sep 26, 2025

• DPtraj

  Public
  5•83•1•0•Updated Sep 7, 2025Sep 7, 2025

• DDR-opt

  Public

  ZJU-FAST-Lab/DDR-opt’s past year of commit activity
  Universal Trajectory Optimization Framework for Differential Drive Robot Class

  C++

  •

  GNU General Public License v3.0

  •32•295•7•0•Updated Jul 25, 2025Jul 25, 2025

• Radar-Diffusion

  Public
  Python

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  MIT License

  •11•132•0•0•Updated Jul 12, 2025Jul 12, 2025

• Real-Time-SVSDF-Planner

  Public

  ZJU-FAST-Lab/Real-Time-SVSDF-Planner’s past year of commit activity
  Any-shape Real-time Replanning via SVSDF

  C++

  •2•51•0•0•Updated May 5, 2025May 5, 2025

• LF-3PM

  Public

  ZJU-FAST-Lab/LF-3PM’s past year of commit activity
  a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

  0•16•1•0•Updated Apr 18, 2025Apr 18, 2025

• Aerobatic-Planner

  Public

  ZJU-FAST-Lab/Aerobatic-Planner’s past year of commit activity
  An autonomous aerobatic system that is capable of complex flight maneuvers.

  C++

  •

  GNU General Public License v3.0

  •8•117•3•0•Updated Apr 17, 2025Apr 17, 2025

• Ground-effect-controller

  Public

  ZJU-FAST-Lab/Ground-effect-controller’s past year of commit activity
  Ground-Effect-Aware Modeling and Control for Multicopters

  GNU General Public License v3.0

  •1•25•1•0•Updated Mar 26, 2025Mar 26, 2025

• Owner-avatar-Early-report-of-deep-quad-gap-traversal

  Public

  ZJU-FAST-Lab/Owner-avatar-Early-report-of-deep-quad-gap-traversal’s past year of commit activity
  0•12•0•0•Updated Mar 25, 2025Mar 25, 2025

• seb_naver

  Public

  ZJU-FAST-Lab/seb_naver’s past year of commit activity
  SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain

  C++

  •

  GNU General Public License v3.0

  •4•65•2•0•Updated Mar 13, 2025Mar 13, 2025

• ego-planner-swarm

  Public

  ZJU-FAST-Lab/ego-planner-swarm’s past year of commit activity
  An efficient single/multi-agent trajectory planner for multicopters.

  C++

  •

  GNU General Public License v3.0

  •293•1.7k•27•2•Updated Mar 8, 2025Mar 8, 2025

• ego-planner

  Public
  C++

  •

  GNU General Public License v3.0

  •350•2.1k•35•1•Updated Mar 8, 2025Mar 8, 2025

• FSGP_BGK

  Public
  Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process

  BSD 3-Clause "New" or "Revised" License

  •1•40•3•0•Updated Mar 6, 2025Mar 6, 2025

• FACT-Coordinate-Initialization

  Public
  Open source code for paper FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarm

  C++

  •

  GNU General Public License v3.0

  •1•21•0•0•Updated Dec 25, 2024Dec 25, 2024

• e2e_opt

  Public
  JavaScript

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  MIT License

  •0•46•1•0•Updated Dec 17, 2024Dec 17, 2024

• Active-Relative-Localization

  Public
  Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation

  C++

  •

  GNU General Public License v3.0

  •3•22•0•0•Updated Nov 18, 2024Nov 18, 2024

• Implicit-SVSDF-Planner

  Public

  ZJU-FAST-Lab/Implicit-SVSDF-Planner’s past year of commit activity
  [SIGGRAPH 2024 & TOG]

  optimizationcomputer-graphicspath-planning+ 2trajectory-generationswept-volumes

  C++

  •

  MIT License

  •12•210•2•0•Updated Jul 18, 2024Jul 18, 2024

• Implicit-SDF-Planner

  Public
  [IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

  trajectory-optimizationcollision-avoidanceswept-volumes

  C++

  •

  GNU General Public License v3.0

  •23•257•1•0•Updated Jul 18, 2024Jul 18, 2024

• uneven_planner

  Public
  An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •28•201•2•0•Updated Jun 12, 2024Jun 12, 2024

• Assistive-Racing

  Public
  A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario

  C++

  •3•17•1•0•Updated May 11, 2024May 11, 2024

• Terrestrial-Aerial-Navigation

  Public

  ZJU-FAST-Lab/Terrestrial-Aerial-Navigation’s past year of commit activity
  An autonomous navigation framework that brings complete autonomy to terrestrial-aerial bimodal vehicles (TABVs)

  C++

  •

  GNU General Public License v3.0

  •17•108•1•0•Updated May 5, 2024May 5, 2024

• FastSim

  Public

  ZJU-FAST-Lab/FastSim’s past year of commit activity
  9•117•1•0•Updated Mar 9, 2024Mar 9, 2024

• Swarm-Formation

  Public

  ZJU-FAST-Lab/Swarm-Formation’s past year of commit activity
  Formation Flight in Dense Environments

  distributed-systemsmotion-planningswarm+ 5trajectory-optimizationmulti-robotformation-flightaerial-roboticsspatial-temporal

  C++

  •

  GNU General Public License v3.0

  •77•490•4•0•Updated Jan 24, 2024Jan 24, 2024

• GPA-Teleoperation

  Public
  dronemotion-planningquadrotor+ 3multicopterteleoperationminco

  C++

  •6•27•1•0•Updated Dec 7, 2023Dec 7, 2023

• EVA-planner

  Public
  EVA-planner: an EnVironmental Adaptive Gradient-based Local Planner for Quadrotors.

  roboticsplanningadaptive

  C++

  •20•102•0•0•Updated Nov 24, 2023Nov 24, 2023

• EGO-Planner-v2

  Public

  ZJU-FAST-Lab/EGO-Planner-v2’s past year of commit activity
  Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"

  C++

  •

  GNU General Public License v3.0

  •92•582•20•4•Updated Oct 16, 2023Oct 16, 2023

• GCOPTER

  Public

  ZJU-FAST-Lab/GCOPTER’s past year of commit activity
  A General-Purpose Trajectory Optimizer for Multicopters

  navigationmotion-planningquadrotor+ 6trajectory-optimizationmulticoptercorridorssafe-flight-corridorscorridorminco

  C++

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  MIT License

  •188•1.1k•19•1•Updated Oct 15, 2023Oct 15, 2023

• VID-Dataset

  Public

  ZJU-FAST-Lab/VID-Dataset’s past year of commit activity
  C++

  •

  GNU Affero General Public License v3.0

  •12•59•3•0•Updated Sep 18, 2023Sep 18, 2023

• Car-like-Robotic-swarm

  Public

  ZJU-FAST-Lab/Car-like-Robotic-swarm’s past year of commit activity
  Source code for the decentralized car-like robotic swarm

  C++

  •

  GNU General Public License v3.0

  •26•144•2•0•Updated Jul 28, 2023Jul 28, 2023