{"id":15647312,"url":"https://github.com/elucidation/uav-motion-planner-ensemble","last_synced_at":"2025-04-30T11:33:57.636Z","repository":{"id":2033422,"uuid":"2970075","full_name":"Elucidation/UAV-Motion-Planner-Ensemble","owner":"Elucidation","description":"A Matlab motion planner ensemble of a global Voronoi  model and a local Potential Field model","archived":false,"fork":false,"pushed_at":"2020-04-04T01:21:04.000Z","size":372,"stargazers_count":58,"open_issues_count":0,"forks_count":26,"subscribers_count":4,"default_branch":"master","last_synced_at":"2025-04-19T01:32:04.052Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"http://elucidation.github.com/UAV-Motion-Planner-Ensemble/","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Elucidation.png","metadata":{"files":{"readme":"README.markdown","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2011-12-13T05:29:48.000Z","updated_at":"2025-03-26T02:39:48.000Z","dependencies_parsed_at":"2022-08-28T21:10:24.676Z","dependency_job_id":null,"html_url":"https://github.com/Elucidation/UAV-Motion-Planner-Ensemble","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Elucidation%2FUAV-Motion-Planner-Ensemble","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Elucidation%2FUAV-Motion-Planner-Ensemble/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Elucidation%2FUAV-Motion-Planner-Ensemble/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Elucidation%2FUAV-Motion-Planner-Ensemble/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Elucidation","download_url":"https://codeload.github.com/Elucidation/UAV-Motion-Planner-Ensemble/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":251691768,"owners_count":21628387,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-10-03T12:18:23.233Z","updated_at":"2025-04-30T11:33:57.599Z","avatar_url":"https://github.com/Elucidation.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"[Simultaneous Planning Localization And Mapping For Unmanned Aerial Vehicles](http://rip11.wikidot.com/simultaneous-planning-localization-and-mapping-for-unmanned)\n---\nAuthors: Bill, Kyel, Sam, Will. [Final Class Report](http://cloud.github.com/downloads/Elucidation/UAV-Motion-Planner-Ensemble/GT_RIP_F2011_UAV.pdf)\n\nPublished in ICRA: Kyel Ok, Sameer Ansari, William Gallagher, William Sica, Frank Dellaert, Mike Stilman, [\"Path Planning with Uncertainty: Voronoi Uncertainty Fields.\" IEEE International Conference on Robotics and Automation 2013.](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6631230)\n\nThis project is a MATLAB Simulator for UAV navigation with vision uncertainty using [SLAM](http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping).\nThe goal is to implement this on a raptor quadcopter Spring 2012, with the intent to use in search and rescue operations in forested environments.\n\n[More Images \u0026 Videos](http://elucidation.github.com/UAV-Motion-Planner-Ensemble/)\n\n![Final simulation Traveled Path](http://i.imgur.com/ASoql.png)\n\nThe build progress is documented on the [class wiki](http://rip11.wikidot.com/simultaneous-planning-localization-and-mapping-for-unmanned).\n\n---\nThe goal of the project is to implement a planning technique into the SLAM framework, using a local planner to direct the path towards the global exploration goal. This work is motivated to improve SLAM performance in uncertain or rapidly changing environments, such as search and rescue missions in a forest using a UAV.\n\nThis simulator is written as part of a research assignment for the GeorgiaTech course [Robotics Intelligence \u0026 Planning](http://rip11.wikidot.com) (Fall 2011).\n\nThe simulator is written as a script with user defined variables, accessible through `simulator_main.m`\n\n\nGlobal Planner\n---\nA Global planner is implemented using a Voronoi diagram with DFS or A* search through nodes to the global goal.\nThis is updated each turn based on uncertainty and UAV/robot position\n\nLocal Planner\n---\nA local planner implemented using potential field with gradient descent.\nOnly visible (within a range of UAV) obstacles are considered.\nThis is updated each turn based on uncertainty and UAV/robot position\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Felucidation%2Fuav-motion-planner-ensemble","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Felucidation%2Fuav-motion-planner-ensemble","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Felucidation%2Fuav-motion-planner-ensemble/lists"}