{"id":19526642,"url":"https://github.com/zju-fast-lab/elastic-tracker","last_synced_at":"2025-07-23T19:32:53.112Z","repository":{"id":54335311,"uuid":"464134360","full_name":"ZJU-FAST-Lab/Elastic-Tracker","owner":"ZJU-FAST-Lab","description":"Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking","archived":false,"fork":false,"pushed_at":"2023-06-16T03:36:42.000Z","size":13643,"stargazers_count":241,"open_issues_count":6,"forks_count":27,"subscribers_count":4,"default_branch":"main","last_synced_at":"2025-05-09T00:04:32.558Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","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":"2022-02-27T12:46:16.000Z","updated_at":"2025-05-08T03:24:16.000Z","dependencies_parsed_at":"2024-11-11T01:11:21.435Z","dependency_job_id":"003e6e71-cbd7-4eb0-af7a-acd8b0e96771","html_url":"https://github.com/ZJU-FAST-Lab/Elastic-Tracker","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ZJU-FAST-Lab/Elastic-Tracker","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FElastic-Tracker","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FElastic-Tracker/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FElastic-Tracker/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FElastic-Tracker/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/Elastic-Tracker/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FElastic-Tracker/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266738301,"owners_count":23976415,"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":"2025-07-23T02:00:09.312Z","response_time":66,"last_error":null,"robots_txt_status":null,"robots_txt_updated_at":null,"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":"2024-11-11T01:11:12.440Z","updated_at":"2025-07-23T19:32:53.087Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Elastic-Tracker\n\n## 0. Overview\n**Elastic-Tracker** is a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility.\n\n**Authors**: Jialin Ji, Neng Pan and [Fei Gao](https://ustfei.com/) from the [ZJU Fast Lab](http://zju-fast.com/). \n\n**Paper**: [Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking](https://arxiv.org/abs/2109.07111), Jialin Ji, Neng Pan, Chao Xu, Fei Gao, Accepted in IEEE International Conference on Robotics and Automation (__ICRA 2022__).\n\n**Video Links**: [youtube](https://www.youtube.com/watch?v=G5taHOpAZj8) or [bilibili](https://www.bilibili.com/video/BV1o44y1b7wC)\n\u003ca href=\"https://www.youtube.com/watch?v=G5taHOpAZj8\" target=\"blank\"\u003e\n  \u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/cover.png\" width=\"500\"/\u003e\n  \u003c/p\u003e\n\u003c/a\u003e\n\n## 1. Simulation of Aerial Tracking \n\n[NOTE] remember to change the CUDA option of **src/uav_simulator/local_sensing/CMakeLists.txt**\n\n\u003ePreparation and visualization:\n```\ngit clone https://github.com/ZJU-FAST-Lab/Elastic-Tracker.git\ncd Elastic-Tracker\ncatkin_make\nsource devel/setup.zsh\nchmod +x sh_utils/pub_triger.sh\nroslaunch mapping rviz_sim.launch\n```\n\n\u003eA small drone with the global map as the chasing target:\n```\nroslaunch planning fake_target.launch\n```\n\n\u003eStart the elastic tracker:\n```\nroslaunch planning simulation1.launch\n```\n\n\u003eTriger the drone to track the target:\n```\n./sh_utils/pub_triger.sh\n```\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/sim1.gif\" width=\"500\"/\u003e\n\u003c/p\u003e\n\nComparision of the planners *with* ![blue](https://via.placeholder.com/10/1F24E6/000000?text=+) and *without* ![blue](https://via.placeholder.com/10/E6691E/000000?text=+) **visibility guarantee**:\n```\nroslaunch planning simulation2.launch\n```\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/sim2.gif\" width=\"500\"/\u003e\n\u003c/p\u003e\n\n## 2. Simulation of Aerial Landing\n\n\u003e First start the stage of tracking:\n```\nroslaunch planning fake_car_target.launch\nroslaunch planning simulation_landing.launch\n./sh_utils/pub_triger.sh\n```\n\u003e Triger the drone to land on the moving vehicle:\n```\n./sh_utils/land_triger.sh\n```\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/sim_landing.gif\" width=\"500\"/\u003e\n\u003c/p\u003e\n\n## 3. Acknowledgement\nWe use [**MINCO**](https://github.com/ZJU-FAST-Lab/GCOPTER) as our trajectory representation.\n\nWe use [**DecompROS**](https://github.com/sikang/DecompROS) for safe flight corridor generation and visualization.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Felastic-tracker","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Felastic-tracker","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Felastic-tracker/lists"}