Flight code for MIT CSAIL Robot Locomotion Group flying-through-forests project

This code powers:

• Self-flying drone dips, darts and dives through trees at 30 mph

  • video
  • thesis (pdf)

  

  • techincal video

  

• FPGA vs. pushbroom stereo vision for MAVs:

  • paper (pdf)

• Pushbroom stereo for high-speed navigation in cluttered environments:

  • paper (pdf)
  • video

  

• Fast and Accurate Knife-Edge Maneuvers for Autonomous Aircraft:

  • video
  • abstract (pdf)
  • thesis (pdf)

Pushbroom stereo files are here:

• Main class [cpp]
• Camera capture, recording management, debugging UI, etc. [cpp]

Stereo image and synced sensor data:

• Datasets

See also:

• Full parts list (PDF)
• Drake toolbox for planning, control, and analysis
• Simulation code
• CAD
• Pronto state estimator

Contact abarry@csail.mit.edu / abarry.org for more information.