{"id":27598590,"url":"https://github.com/hkust-aerial-robotics/apace","last_synced_at":"2025-04-22T14:15:19.719Z","repository":{"id":227619655,"uuid":"737978010","full_name":"HKUST-Aerial-Robotics/APACE","owner":"HKUST-Aerial-Robotics","description":"APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights 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APACE\n\u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"figures/APACE_white.png\" alt=\"apace\" height=\"160\"\u003e\n\u003c/div\u003e\n\u003cdiv align=\"center\"\u003e\n\u003ca href=\"https://arxiv.org/abs/2403.08365\"\u003e\n\u003cimg alt=\"arxiv\" src=\"https://img.shields.io/badge/arXiv-2403.08365-004088.svg\"/\u003e\n\u003c/a\u003e\n\u003ca href=\"https://youtu.be/FIM3ta6p_d0\"\u003e\n\u003cimg alt=\"Youtube\" src=\"https://img.shields.io/badge/Video-Youtube-red\"/\u003e\n\u003c/a\u003e\n\u003ca href=\"https://www.bilibili.com/video/BV1sC4y1Z7Ps\"\u003e\n\u003cimg alt=\"Youtube\" src=\"https://img.shields.io/badge/Video-Bilibili-pink\"/\u003e\n\u003c/a\u003e\n\u003c/div\u003e\n\nThis is the code repository for the paper contributed to ICRA2024: \n*APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights*.\n\n**APACE** is a systematic, flexible and efficient framework for **A**gile and **P**erception-**A**ware traje**C**tory g**E**neration for quadrotor flights.\n**APACE** empowers a quadrotor with visual sensors to maneuver in challenging environments while maintaining stable visual odometry, such as in a darkness scenario with only a few light spots.\n\n\u003cdiv align=\"center\"\u003e\n\u003cimg src=\"figures/real_world_combo_num.png\" alt=\"cover\" width=\"640\"/\u003e\n\u003c/div\u003e\n\nPlease cite our paper if you use this project in your research:\n- [__APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor Flights__](https://arxiv.org/abs/2403.08365), Xinyi Chen, Yichen Zhang, Boyu Zhou, and Shaojie Shen, 2024 IEEE International Conference on Robotics and Automation (ICRA2024).\n\n```\n@article{chen2024apace,\n  title={APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor Flights},\n  author={Chen, Xinyi and Zhang, Yichen and Zhou, Boyu and Shen, Shaojie},\n  journal={arXiv preprint arXiv:2403.08365},\n  year={2024}\n}\n```\n\nPlease kindly star :star: this project if it helps you. Thanks for your support! :sparkling_heart:\n\n## Getting Started\n\nThe setup commands have been tested on Ubuntu 20.04 (ROS Noetic). If you are using a different Ubuntu distribution, please modify accordingly.\n\n* Install dependency and clone the repository\n  ```\n    sudo apt install libgoogle-glog-dev libdw-dev\n    cd ${YOUR_WORKSPACE_PATH}/src\n    git clone https://github.com/HKUST-Aerial-Robotics/APACE.git\n    git clone https://github.com/xchencq/VINS-Fusion.git\n    cd ..\n    catkin_make\n    source devel/setup.bash\n  ```\n* Download the [map files](https://drive.google.com/drive/folders/1IPUBSd-ACf_wFpIpqLQSaWH9s2awQ6-f?usp=sharing) from Google Drive and put them in the `APACE/voxel_mapping/data` folder.\n\n* Download the [pre-built AirSim simulator package](https://drive.google.com/file/d/1wUkvFrmSaT2qL5vDpH49VlWv2G_kEluU/view?usp=sharing) and the [Airsim library](https://drive.google.com/file/d/1rBClGuj98AnOjyl6V00V5X-BWr4BqbrQ/view?usp=sharing) utilized in our experiments from Google Drive. You can put them in any directory you like and remember to extract them. For example, you may put them in a folder `~/source`.\n\n* Build the AirSim library\n  ```\n    cd ~/source/AirSim_source\n    ./setup.sh\n    ./build.sh\n  ```\n\n* Move the `settings.json` file from the repository to `~/Documents/AirSim` folder and replace the original one.\n\n* Setup the AirSim root as the directory path of the `AirSim_source` folder in the beginning of `APACE/airsim_ros_wrapper/CMakeLists.txt`.\n\n## Run\nAfter successful installation, you can run the APACE planner in the AirSim simulator.\n\n\u003cdiv align=\"center\"\u003e\n  \u003cimg src=\"figures/airsim.gif\" width = \"700\" /\u003e\n\u003c/div\u003e\n\n* Launch RViz visualization\n  ``` \n    roslaunch plan_manage rviz.launch\n  ```\n* Launch pre-built AirSim simulator, e.g. under ~/source folder\n  ``` \n    ~/source/CenterFeature/LinuxNoEditor/AirSimStreetView.sh -windowed\n  ```\n* Launch AirSim ROS wrapper \n  ``` \n    roslaunch airsim_ctrl ctrl_md_exploration.launch\n  ```\n* Launch VINS estimator\n  ``` \n    roslaunch vins vins_airsim.launch\n  ```\n* Launch APACE planner\n  ```\n    roslaunch plan_manage agile_planner_airsim.launch\n  ```","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhkust-aerial-robotics%2Fapace","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhkust-aerial-robotics%2Fapace","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhkust-aerial-robotics%2Fapace/lists"}