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Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
| Date | Stars |
|---|---|
| 2026-07-24 | 780 |
| 2026-07-25 | 779 |
| 2026-07-28 | 779 |
| 2026-07-30 | 779 |
| 2026-08-09 | 780 |
| 2026-08-17 | 783 |
| 2026-08-27 | 783 |
| 2026-08-31 | 784 |
| 2026-09-12 | 785 |
| 2026-09-16 | 786 |
| 2026-09-18 | 788 |
| 2026-09-20 | 788 |
Today
— stars today
This week
+3 stars this week
This month
+5 stars this month
Momentum
0.0
growth rate 0.38%/day
This is the autonomous flight code stack used at KumarRobotics, providing a complete solution for GPS-denied quadcopter autonomy. It has been tested extensively in challenging urban and rural (under forest canopy) environments.
## High-level Code Structure
## Documentation and Instructions
Please refer to [our Wiki page](https://github.com/KumarRobotics/kr_autonomous_flight/wiki) for detailed instructions about how to use this code.
## Videos
[Real-world experiments in large-scale autonomous flight with real-time semantic SLAM in forests](https://www.youtube.com/watch?v=Ad3ANMX8gd4)
[Real-world experiments in fast, autonomous, GPS-Denied quadrotor flight](https://m.youtube.com/watch?v=6eeetSVHXPk)
[Simulation experiments in fast, autonomous flight in urban and rural environments](https://www.youtube.com/watch?v=l1esgtJ4C6s)
## ROS2 Support (Experimental)
An experimental ROS2 Jazzy Jalisco (Ubuntu 24.04) port of this stack lives on the [`ros2_dev`](https://github.com/KumarRobotics/kr_autonomous_flight/tree/ros2_dev) branch. It is built on top of [`feature/integrate_lidar_3d_planner_default`](https://github.com/KumarRobotics/kr_autonomous_flight/tree/feature/integrate_lidar_3d_planner_default), which adds two capabilities beyond `master`:
- a **3D optimization-based planner** (gcopter-family trajectory optimization integrated into the action planner), and
- support for both **LIDAR + VIO** and **LIDAR-only** autonomous flight modalities (the stack can now fly without a visual-inertial frontend when lighting / texture conditions make VIO unreliable).
Every package, launch file, Docker image, and CI workflow on `ros2_dev` has been adapted for ROS2 Jazzy. **This port has not been extensively tested or experimented with and is not the version used to produce any of the results shown in our papers or videos above.** It is provided as a starting point for developers who want to use kr_autonomous_flight under ROS2. Several external dependencies pulled via `external_*.yaml` (`kr_trackers_manager`, `kr_mav_control`, `faster-lio`, `mrsl_quadrotor`, etc.) are still ROS1-only and must themselves be ported before a full end-to-end build succeeds. See [`ROS2_MIGRATION_REPORT.md`](https://github.com/KumarRobotics/kr_autonomous_flight/blob/ros2_dev/ROS2_MIGRATION_REPORT.md) for a detailed per-package breakdown and the list of known follow-ups.
## Contributing
Report issues: Open an [issue](https://github.com/KumarRobotics/kr_autonomous_flight/issues) on Github.
Merge code changes: Open a [pull request](https://github.com/KumarRobotics/kr_autonomous_flight/pulls) on Github.
## Citation
If you use our code in your work, please cite:
```
@article{mohta2018fast,
title={Fast, autonomous flight in GPS-denied and cluttered environments},
author={Mohta, Kartik and Watterson, Michael and Mulgaonkar, YashExcerpt of 5,836 characters
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:e1b17016f1b632e3, topic:ros, readme:slam