PrototypeCommon
formiat/px4-ros2-drone-nav
Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.
- Owner
- formiat (personal account)
- Stars
- Stars: 167
- Forks
- Forks: 33
- Language
- C++
- License
- MIT
- Created
- 2026
- Topics
- autonomous-navigationd-star-litedronegazebognss-deniedgps-deniedlidar-inertial-odometrymodel-predictive-controlmppimsckf
- Tier
- Prototype (100 to 249 ★) What this tier means
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