XTDrone/README.en.md

XTDrone

[中文版]

Description

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:

1. Stereo SLAM

2. VIO

3. Dense Reconstruction

4. 2D Laser SLAM

5. 3D Laser SLAM

6. Motion Planning

7. Object Detection and Tracking

8. Formation

9. Fixed wing

10. VTOLs

11. UGV

12. USV

User manual

XTDrone Manual

Developing Team

• Founders: Kun Xiao, Shaochang Tan
• Adviser: Xiangke Wang
• Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Qipeng Wang, Xinyu Hu, Wenxin Hu, Yi Bao, Ruoqiao Guan, Xinyu Hu, Keyan Chen, Gao Chen

Contributers

Sincerely thank you for your contribution to XTDrone.

Changhao Sun, Zihan Lin, Yao He