SUPER: Safety-assured High-speed Navigation for MAVs

</h5> </p> </div> # Updates * **Mar. 09, 2025** - The hardware components of SUPER have been released at [SUPER-Hardware](https://github.com/hku-mars/SUPER-Hardware) 🦾 * **Jan. 29, 2025** - The preview version of SUPER's planning module, supporting both ROS1 and ROS2, is now available! Try it out, and we welcome any issues or contributions. * **Jan. 29, 2025** - The paper of SUPER is now featured on the official website of [*Science Robotics*](https://www.science.org/doi/10.1126/scirobotics.ado6187). * **Dec. 12, 2024** - 🎉 Our paper has been accepted by *Science Robotics*! Our paper is also aviliable at [here](misc/scirobotics.ado6187.pdf). If our repository supports your academic projects, please cite our work. Thank you! ```tex @article{ren2025safety, title={Safety-assured high-speed navigation for MAVs}, author={Ren, Yunfan and Zhu, Fangcheng and Lu, Guozheng and Cai, Yixi and Yin, Longji and Kong, Fanze and Lin, Jiarong and Chen, Nan and Zhang, Fu}, journal={Science Robotics}, volume={10}, number={98}, pages={eado6187}, year={2025}, publisher={American Association for the Advancement of Science} } @article{lu2025autonomous, title={Autonomous Tail-Sitter Flights in Unknown Environments}, author={Lu, Guozheng and Ren, Yunfan and Zhu, Fangcheng and Li, Haotian and Xue, Ruize and Cai, Yixi and Lyu, Ximin and Zhang, Fu}, journal={IEEE Transactions on Robotics}, year={2025}, publisher={IEEE} } @inproceedings{ren2024rog, title={Rog-map: An efficient robocentric occupancy grid map for large-scene and high-resolution lidar-based motion planning}, author={Ren, Yunfan and Cai, Yixi and Zhu, Fangcheng and Liang, Siqi and Zhang, Fu}, booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages={8119--8125}, year={2024}, organization={IEEE} } ``` # 1 Highlights ## 1.1 Autonomous Navigation in Challenging Environments (Click for video demo) [](https://youtu.be/GPHuzG0ANmI?si=W83mDMxqfgWReWPF) ## 1.2 Applications: Object Tracking & Autonomous Exploration SUPER has been successfully deployed in various applications, including large-scale autonomous exploration in an ongoing project by [@jackykongfz](https://github.com/jackykongfz) and [@ZbyLGsc](https://github.com/ZbyLGsc) from [STAR Lab](sysu-star.com), among others, as well as object tracking under both day and night conditions.  > ⬆️ This segment is from an unpublished work by Kong [[@jackykongfz](https://github.com/jackykongfz) ] et al., conducted in collaboration with [STAR Lab](sysu-star.com), using SUPER.  ## 1.3 Supported Projects ### 1.3.1 Autonomous Tail-Sitter (TRO '25) Building on SUPER, a similar planning system has been successfully validated in [Autonomous Navigation for Tail-Sitter UAVs](https://github.com/hku-mars/EFOPT) by [@genegzl](https://github.com/genegzl) et al.  ### 1.3.2 FAST-LIVO2 (TRO '24) SUPER serves as the flight platform and navigation system in the video demonstration of [FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry](https://github.com/hku-mars/FAST-LIVO2) by [@xuankuzcr](https://github.com/xuankuzcr) et al. # 2 Quick Start ## 2.1 Installation Install dependencies File truncated at 100 lines [see the full file](https://github.com/hku-mars/super/tree/master/README.md)