Repositories list

• VID-Fusion

  Public

  ZJU-FAST-Lab/VID-Fusion’s past year of commit activity
  VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

  C++

  •

  GNU General Public License v3.0

  •23•142•1•0•Updated Mar 15, 2026Mar 15, 2026

• FSGP_BGK

  Public

  ZJU-FAST-Lab/FSGP_BGK’s past year of commit activity
  Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process

  C++

  •5•99•2•0•Updated Dec 3, 2025Dec 3, 2025

• DDR-opt

  Public

  ZJU-FAST-Lab/DDR-opt’s past year of commit activity
  Universal Trajectory Optimization Framework for Differential Drive Robot Class

  C++

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  GNU General Public License v3.0

  •46•383•8•0•Updated Dec 2, 2025Dec 2, 2025

• zju-fast-lab.github.io

  Public

  ZJU-FAST-Lab/zju-fast-lab.github.io’s past year of commit activity
  https://zju-fast-lab.github.io/

  TeX

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  MIT License

  •2•2•0•0•Updated Nov 14, 2025Nov 14, 2025

• Primitive-Planner

  Public

  ZJU-FAST-Lab/Primitive-Planner’s past year of commit activity
  Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

  C++

  •

  GNU General Public License v3.0

  •19•170•3•0•Updated Sep 26, 2025Sep 26, 2025

• DPtraj

  Public

  ZJU-FAST-Lab/DPtraj’s past year of commit activity
  5•96•1•0•Updated Sep 7, 2025Sep 7, 2025

• Radar-Diffusion

  Public

  ZJU-FAST-Lab/Radar-Diffusion’s past year of commit activity
  Python

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  MIT License

  •16•152•0•0•Updated Jul 12, 2025Jul 12, 2025

• Real-Time-SVSDF-Planner

  Public

  ZJU-FAST-Lab/Real-Time-SVSDF-Planner’s past year of commit activity
  Any-shape Real-time Replanning via SVSDF

  C++

  •3•59•0•0•Updated May 5, 2025May 5, 2025

• LF-3PM

  Public
  a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

  1•16•1•0•Updated Apr 18, 2025Apr 18, 2025

• Aerobatic-Planner

  Public

  ZJU-FAST-Lab/Aerobatic-Planner’s past year of commit activity
  An autonomous aerobatic system that is capable of complex flight maneuvers.

  C++

  •

  GNU General Public License v3.0

  •15•141•3•0•Updated Apr 17, 2025Apr 17, 2025

• Ground-effect-controller

  Public

  ZJU-FAST-Lab/Ground-effect-controller’s past year of commit activity
  Ground-Effect-Aware Modeling and Control for Multicopters

  GNU General Public License v3.0

  •2•27•1•0•Updated Mar 26, 2025Mar 26, 2025

• Owner-avatar-Early-report-of-deep-quad-gap-traversal

  Public

  ZJU-FAST-Lab/Owner-avatar-Early-report-of-deep-quad-gap-traversal’s past year of commit activity
  0•12•0•0•Updated Mar 25, 2025Mar 25, 2025

• seb_naver

  Public
  SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain

  C++

  •

  GNU General Public License v3.0

  •5•77•4•0•Updated Mar 13, 2025Mar 13, 2025

• ego-planner-swarm

  Public

  ZJU-FAST-Lab/ego-planner-swarm’s past year of commit activity
  An efficient single/multi-agent trajectory planner for multicopters.

  C++

  •

  GNU General Public License v3.0

  •339•2k•31•3•Updated Mar 8, 2025Mar 8, 2025

• ego-planner

  Public
  C++

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  GNU General Public License v3.0

  •384•2.4k•39•1•Updated Mar 8, 2025Mar 8, 2025

• FACT-Coordinate-Initialization

  Public

  ZJU-FAST-Lab/FACT-Coordinate-Initialization’s past year of commit activity
  Open source code for paper FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarm

  C++

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  GNU General Public License v3.0

  •1•22•0•0•Updated Dec 25, 2024Dec 25, 2024

• e2e_opt

  Public

  ZJU-FAST-Lab/e2e_opt’s past year of commit activity
  JavaScript

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  MIT License

  •0•51•1•0•Updated Dec 17, 2024Dec 17, 2024

• Active-Relative-Localization

  Public

  ZJU-FAST-Lab/Active-Relative-Localization’s past year of commit activity
  Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation

  C++

  •

  GNU General Public License v3.0

  •3•23•0•0•Updated Nov 18, 2024Nov 18, 2024

• Implicit-SVSDF-Planner

  Public

  ZJU-FAST-Lab/Implicit-SVSDF-Planner’s past year of commit activity
  [SIGGRAPH 2024 & TOG]

  optimizationcomputer-graphicspath-planning+ 2

  optimizationcomputer-graphicspath-planningtrajectory-generationswept-volumes

  C++

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  MIT License

  •13•221•2•0•Updated Jul 18, 2024Jul 18, 2024

• Implicit-SDF-Planner

  Public

  ZJU-FAST-Lab/Implicit-SDF-Planner’s past year of commit activity
  [IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

  trajectory-optimizationcollision-avoidanceswept-volumes

  trajectory-optimizationcollision-avoidanceswept-volumes

  C++

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  GNU General Public License v3.0

  •25•265•1•0•Updated Jul 18, 2024Jul 18, 2024

• uneven_planner

  Public

  ZJU-FAST-Lab/uneven_planner’s past year of commit activity
  An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

  C++

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  BSD 3-Clause "New" or "Revised" License

  •29•214•2•0•Updated Jun 12, 2024Jun 12, 2024

• Assistive-Racing

  Public

  ZJU-FAST-Lab/Assistive-Racing’s past year of commit activity
  A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario

  C++

  •3•17•1•0•Updated May 11, 2024May 11, 2024

• Terrestrial-Aerial-Navigation

  Public

  ZJU-FAST-Lab/Terrestrial-Aerial-Navigation’s past year of commit activity
  An autonomous navigation framework that brings complete autonomy to terrestrial-aerial bimodal vehicles (TABVs)

  C++

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  GNU General Public License v3.0

  •19•112•1•0•Updated May 5, 2024May 5, 2024

• FastSim

  Public

  ZJU-FAST-Lab/FastSim’s past year of commit activity
  10•122•1•0•Updated Mar 9, 2024Mar 9, 2024

• Swarm-Formation

  Public

  ZJU-FAST-Lab/Swarm-Formation’s past year of commit activity
  Formation Flight in Dense Environments

  distributed-systemsmotion-planningswarm+ 5

  distributed-systemsmotion-planningswarmtrajectory-optimizationmulti-robotformation-flightaerial-roboticsspatial-temporal

  C++

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  GNU General Public License v3.0

  •82•535•4•0•Updated Jan 24, 2024Jan 24, 2024

• GPA-Teleoperation

  Public

  ZJU-FAST-Lab/GPA-Teleoperation’s past year of commit activity
  dronemotion-planningquadrotor+ 3

  dronemotion-planningquadrotormulticopterteleoperationminco

  C++

  •6•31•1•0•Updated Dec 7, 2023Dec 7, 2023

• EVA-planner

  Public

  ZJU-FAST-Lab/EVA-planner’s past year of commit activity
  EVA-planner: an EnVironmental Adaptive Gradient-based Local Planner for Quadrotors.

  roboticsplanningadaptive

  roboticsplanningadaptive

  C++

  •22•107•0•0•Updated Nov 24, 2023Nov 24, 2023

• EGO-Planner-v2

  Public

  ZJU-FAST-Lab/EGO-Planner-v2’s past year of commit activity
  Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"

  C++

  •

  GNU General Public License v3.0

  •109•668•21•5•Updated Oct 16, 2023Oct 16, 2023

• GCOPTER

  Public

  ZJU-FAST-Lab/GCOPTER’s past year of commit activity
  A General-Purpose Trajectory Optimizer for Multicopters

  navigationmotion-planningquadrotor+ 6

  navigationmotion-planningquadrotortrajectory-optimizationmulticoptercorridorssafe-flight-corridorscorridorminco

  C++

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  MIT License

  •208•1.2k•20•1•Updated Oct 15, 2023Oct 15, 2023

• VID-Dataset

  Public

  ZJU-FAST-Lab/VID-Dataset’s past year of commit activity
  C++

  •

  GNU Affero General Public License v3.0

  •13•61•5•0•Updated Sep 18, 2023Sep 18, 2023