{"id":19526659,"url":"https://github.com/zju-fast-lab/fast-perching","last_synced_at":"2025-07-26T09:14:58.042Z","repository":{"id":46751053,"uuid":"515438482","full_name":"ZJU-FAST-Lab/Fast-Perching","owner":"ZJU-FAST-Lab","description":"Real-Time Trajectory Planning for Aerial Perching","archived":false,"fork":false,"pushed_at":"2023-04-03T02:24:30.000Z","size":12191,"stargazers_count":98,"open_issues_count":1,"forks_count":9,"subscribers_count":7,"default_branch":"master","last_synced_at":"2025-04-26T10:36:17.251Z","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,"zenodo":null}},"created_at":"2022-07-19T04:50:50.000Z","updated_at":"2025-04-23T13:59:09.000Z","dependencies_parsed_at":"2025-04-26T10:41:44.947Z","dependency_job_id":null,"html_url":"https://github.com/ZJU-FAST-Lab/Fast-Perching","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ZJU-FAST-Lab/Fast-Perching","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFast-Perching","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFast-Perching/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFast-Perching/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFast-Perching/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/Fast-Perching/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFast-Perching/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":267144595,"owners_count":24042639,"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":"2025-07-26T02:00:08.937Z","response_time":62,"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":"2024-11-11T01:11:20.590Z","updated_at":"2025-07-26T09:14:57.989Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Fast-Perching\n\n## 0. Overview\n**Fast-Perching** presents a novel trajectory planning method for real-time aerial perching, which adaptively adjusts terminal states and the trajectory duration. This feature is especially notable on micro aerial robots with low maneuverability or scenarios where the space is not enough.\n\n**Authors**: Jialin Ji, Tiankai Yang and [Fei Gao](https://ustfei.com/) from the [ZJU Fast Lab](http://zju-fast.com/). \n\n**Paper**: [Real-Time Trajectory Planning for Aerial Perching](https://arxiv.org/abs/2203.01061), Jialin Ji, Tiankai Yang, Chao Xu, Fei Gao, Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (__IROS 2022__).\n\n**Video Links**: [bilibili](https://www.bilibili.com/video/BV14q4y147uz)\n\u003ca href=\"https://www.bilibili.com/video/BV14q4y147uz\" 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 Perching\n\n\u003ePreparation and visualization:\n```\ngit clone https://github.com/ZJU-FAST-Lab/Fast-Perching\ncd Fast-Perching\ncatkin_make\nsource devel/setup.zsh\nchmod +x sh_utils/pub_triger.sh\nroslaunch planning perching.launch\n```\n\n\u003eStart the perching planner:\n```\n./sh_utils/pub_triger.sh\n```\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/perching1.gif\" width=\"400\"/\u003e\n\u003c/p\u003e\n\n\u003eChange the position, veliocity and orientation of the landing plate:\n```html\n\u003c!-- DIR: src/planning/launch/perching.launch --\u003e\n  \u003cparam name=\"perching_px\" value=\"\"/\u003e\n  \u003cparam name=\"perching_py\" value=\"\"/\u003e\n  \u003cparam name=\"perching_pz\" value=\"\"/\u003e\n  \u003cparam name=\"perching_vx\" value=\"\"/\u003e\n  \u003cparam name=\"perching_vy\" value=\"\"/\u003e\n  \u003cparam name=\"perching_vz\" value=\"\"/\u003e\n  \u003cparam name=\"perching_axis_x\" value=\"\"/\u003e\n  \u003cparam name=\"perching_axis_y\" value=\"\"/\u003e\n  \u003cparam name=\"perching_axis_z\" value=\"\"/\u003e\n  \u003cparam name=\"perching_theta\" value=\"\"/\u003e\n```\n\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/perching2.gif\" width=\"400\"/\u003e\n\u003c/p\u003e\n\n## 2. Other Settings or Functions\n\n\u003eEnable replan module of the planner:\n```html\n\u003c!-- DIR: src/planning/launch/perching.launch --\u003e\n  \u003cparam name=\"replan\" value=\"true\"/\u003e\n```\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/replan.gif\" width=\"400\"/\u003e\n\u003c/p\u003e\n\n\u003eEnable pause debug module of the planner:\n```html\n\u003c!-- DIR: src/planning/launch/perching.launch --\u003e\n  \u003cparam name=\"pause_debug\" value=\"true\"/\u003e\n```\n\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"figs/debug.gif\" width=\"400\"/\u003e\n\u003c/p\u003e\n\n## 3. Acknowledgement\nWe 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%2Ffast-perching","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Ffast-perching","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Ffast-perching/lists"}