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 systems (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, please see the paper
K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable Multi-rotor UAVs Simulation Platform," 2020 4th International Conference on Robotics and Automation Sciences (ICRAS), 2020, pp. 55-61, doi: 10.1109/ICRAS49812.2020.9134922.
ArXiv preprint arXiv:2003.09700 (2020)
Architecture for multiple vehicle simulation is shown as the below figure. For more details, please see the paper
K. Xiao, L. Ma, S. Tan, Y. Cong , X. Wang, "Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform," Advances in Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, 2022, vol 644. Springer, Singapore. doi: 10.1007/978-981-15-8155-7_423
ArXiv preprint arXiv:2005.01125 (2020)
If you use XTDrone for your academic research, please cite our related papers.
Developers can quickly verify algorithms with XTDrone, such as:
Stereo SLAM
Visual Inertial Navigation
Visual Dense Reconstruction
2D Laser SLAM
3D Laser SLAM
2D Motion Planning
3D Motion Planning
Swarm Motion Planning
Object Detection and Tracking
Formation
Multi-UAV Precision Landing
Fixed wing
VTOL
UGV
USV
Robot Arm
- Founders: Kun Xiao, Shaochang Tan
- Adviser: Xiangke Wang
- Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Yuke Li, Qipeng Wang, Xinyu Hu, Xinning Wu, Jiayi Zheng, Yufan Peng, Zijun Zheng, Jiarun Yan, Feng Yi, Ruoqiao Guan, Wenxin Hu, Yi Bao, An Zhuo， Xudong Liu, Jie Min, Chuanlu Liu, Ciyu Ruan
Sincerely thank you for your contribution to XTDrone.
Keyan Chen, Jiangwei Xu, Yongguang Lu, Gao Chen, Changhao Sun, Ying Nie, Fanjie Kong, Chaoran Li, Xudong Li, Huaqing Zhang, Zihan Lin, Yao He
For commercial inquiries, please contact Kun Xiao [email protected].