{"id":30745451,"url":"https://github.com/zju-fast-lab/active-relative-localization","last_synced_at":"2025-09-04T03:46:58.269Z","repository":{"id":263442747,"uuid":"773361829","full_name":"ZJU-FAST-Lab/Active-Relative-Localization","owner":"ZJU-FAST-Lab","description":"Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation","archived":false,"fork":false,"pushed_at":"2024-11-18T14:57:26.000Z","size":1293,"stargazers_count":3,"open_issues_count":2,"forks_count":0,"subscribers_count":3,"default_branch":"main","last_synced_at":"2024-11-18T16:14:55.339Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ZJU-FAST-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-03-17T13:13:38.000Z","updated_at":"2024-11-18T14:58:27.000Z","dependencies_parsed_at":"2024-11-19T05:00:16.110Z","dependency_job_id":null,"html_url":"https://github.com/ZJU-FAST-Lab/Active-Relative-Localization","commit_stats":null,"previous_names":["zju-fast-lab/active-relative-localization"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ZJU-FAST-Lab/Active-Relative-Localization","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FActive-Relative-Localization","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FActive-Relative-Localization/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FActive-Relative-Localization/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FActive-Relative-Localization/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/Active-Relative-Localization/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FActive-Relative-Localization/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273549097,"owners_count":25125257,"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","status":"online","status_checked_at":"2025-09-04T02:00:08.968Z","response_time":61,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"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":"2025-09-04T03:46:55.851Z","updated_at":"2025-09-04T03:46:58.229Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Active-Relative-Localization\n\nWe propose an active localization correction system designed to balance the contradiction between environmental observation and mutual observation within the FoV-limited drone swarm, ensuring the swarm's flight safety.\n\n**[IROS 2024]** Open source code for paper **Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation**. [arXiv Preprint](https://arxiv.org/abs/2407.01292)\n\nVideo Links: [Bilibili](https://www.bilibili.com/video/BV1fZ421b7j2/).\n\n![img](./pic/image.png)\n\n## Quick Start\n\nWe developed the code on Ubuntu 20.04 with ROS Noetic. Theoretically, it should also run on Ubuntu 18.04 and Ubuntu 16.04, but this has not been tested. Please install ROS(Robot Operating System) first following http://www.ros.org. \n\nRun the following commands to setup:\n\n```\ngit clone https://github.com/ZJU-FAST-Lab/Active-Relative-Localization.git\ncd Active-Relative-Localization\ncatkin_make\n```\n\nWe provide a launch file to run the simulation. You can run the simulation with the following command:\n\n**line formation**\n\n\n```\nsource devel/setup.bash \u0026\u0026 roslaunch ego_planner rviz.launch \nsource devel/setup.bash \u0026\u0026 roslaunch ego_planner line_formation.launch \n```\n\n**x formation**\n\n```\nsource devel/setup.bash \u0026\u0026 roslaunch ego_planner rviz.launch \nsource devel/setup.bash \u0026\u0026 roslaunch ego_planner x_formation.launch \n```\n\nIf you want to compare the difference between using and not using active mutual observation, you can change the parameter ```fsm/active_obs``` to true/false in ```src/plan_manage/launch/line_formation/advanced_param.xml```\nor ```src/plan_manage/launch/x_formation/advanced_param_x.xml```\n\n```\n\u003cparam name=\"fsm/active_obs\" value=\"true\" type=\"bool\"/\u003e \n```\n\n## Acknowledgments\n\nThe simulation and trajectory planning code are based on our previous work [Ego-Planner-v2](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2), and we use [MINCO](https://github.com/ZJU-FAST-Lab/GCOPTER) as our trajectory representation.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Factive-relative-localization","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Factive-relative-localization","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Factive-relative-localization/lists"}