├── .gitattributes ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── benchmarking ├── collision_checker.py ├── convert_actual_traj_id.ipynb ├── dynamic_forest_viz.ipynb ├── dynamic_obstacle_benchmark_node.py ├── dynamic_obstacle_collision_checker.py ├── hardware_viz.ipynb ├── make_video_from_bag.ipynb ├── static_forest_viz.ipynb ├── unc_benchmark_data_analysis.ipynb └── unc_benchmark_node.py ├── config ├── hw_mighty.yaml └── mighty.yaml ├── data └── data.txt ├── docker ├── Dockerfile ├── Makefile └── mighty.sh ├── imgs ├── mighty_gifs_complex_benchmarks.gif ├── mighty_gifs_dynamic_sim.gif ├── mighty_gifs_hard_forest.gif ├── mighty_gifs_hw_bunch.gif ├── mighty_gifs_hw_dynamic_1.gif ├── mighty_gifs_hw_dynamic_2.gif ├── mighty_gifs_hw_fast_flight_1.gif ├── mighty_gifs_hw_fast_flight_2.gif └── mighty_gifs_hw_long_flight.gif ├── include ├── dgp │ ├── data_type.hpp │ ├── data_utils.hpp │ ├── dgp_manager.hpp │ ├── dgp_planner.hpp │ ├── graph_search.hpp │ ├── map_util.hpp │ ├── read_map.hpp │ ├── termcolor.hpp │ └── utils.hpp ├── mighty │ ├── convert_goal_to_cmd_vel.hpp │ ├── convert_odom_to_state.hpp │ ├── convert_vicon_to_state.hpp │ ├── initial_guess.hpp │ ├── lbfgs.hpp │ ├── lbfgs_solver.hpp │ ├── lbfgs_solver_utils.hpp │ ├── mighty.hpp │ ├── mighty_node.hpp │ ├── mighty_type.hpp │ ├── obstacle_tracker_node.hpp │ └── utils.hpp ├── sim │ ├── ImuSensorPlugin.hh │ ├── exprtk.hpp │ └── gazebo_ros_imu_sensor.hpp └── timer.hpp ├── launch ├── base_mighty.launch.py ├── convert_goal_cmd_vel.launch.py ├── convert_odom_to_state.launch.py ├── convert_vicon_to_state.launch.py ├── docker_mighty_sim.yaml ├── dyn_obstacles.launch.py ├── goal_monitor.launch.py ├── goal_sender.launch.py ├── mighty_sim.yaml ├── onboard_mighty.launch.py ├── run_mighty_sim.sh ├── spawn_quadrotor.launch.xml └── spawn_quadrotor_with_asus.launch.xml ├── meshes ├── asus_camera │ ├── asus_camera_simple.dae │ └── asus_camera_simple.stl ├── hokuyo_utm30lx │ ├── blender │ │ └── hokuyo_utm30lx.blend │ ├── hokuyo_utm_30lx.dae │ ├── hokuyo_utm_30lx.stl │ └── hokuyo_utm_30lxTEST_SELF_FILTER.dae ├── kinect_camera │ ├── kinect_camera_simple.dae │ └── kinect_camera_simple.stl ├── obstacles │ ├── model │ │ ├── ConcAggr.jpg │ │ ├── ConcBase.jpg │ │ ├── RustBase.jpg │ │ ├── brick.jpg │ │ ├── brick2.jpg │ │ ├── brick3.jpg │ │ ├── texture1.jpg │ │ ├── texture10.jpg │ │ ├── texture3.jpg │ │ ├── texture4.jpg │ │ ├── texture5.jpg │ │ ├── texture6.jpeg │ │ ├── texture8.jpg │ │ ├── texture9.jpeg │ │ ├── texture9.jpg │ │ ├── wood1.jpg │ │ └── wood4.jpg │ ├── model2.dae │ └── model4.dae ├── p3at_meshes │ ├── axle.stl │ ├── back_sonar.stl │ ├── chassis.stl │ ├── front_sonar.stl │ ├── left_hubcap.stl │ ├── right_hubcap.stl │ ├── top.stl │ └── wheel.stl ├── p3dx_meshes │ ├── back_rim.stl │ ├── back_sonar.stl │ ├── caster_hubcap.stl │ ├── caster_swivel.stl │ ├── caster_wheel.stl │ ├── chassis.stl │ ├── front_rim.stl │ ├── front_sonar.stl │ ├── left_hubcap.stl │ ├── left_wheel.stl │ ├── right_hubcap.stl │ ├── right_wheel.stl │ └── top.stl ├── pioneer-lx │ ├── pioneer-lx-plinth.stl │ ├── pioneer-lx_hull.stl │ └── pioneer-lx_visual.stl ├── quadrotor │ ├── blender │ │ ├── quadrotor_base.blend │ │ └── quadrotor_base_2.blend │ ├── quadrotor.dae │ ├── quadrotor_base.dae │ ├── quadrotor_base.stl │ ├── quadrotor_base_2.dae │ └── quadrotor_base_2.stl ├── real_sense │ └── d435.dae ├── sonar_sensor │ ├── blender │ │ └── max_sonar_ez4.blend │ └── max_sonar_ez4.dae └── thermaleye_camera │ ├── thermaleye_camera_hector_v1.dae │ ├── thermaleye_camera_hector_v1.stl │ ├── thermaleye_camera_hector_v2.dae │ └── thermaleye_camera_hector_v2.stl ├── mighty ├── __init__.py └── module_to_import.py ├── package.xml ├── rviz ├── dynus_px01_hardware.rviz ├── dynus_px03_hardware.rviz └── mighty.rviz ├── scripts ├── bag_record.py ├── convert_goal_to_cmd_vel.py ├── convert_odom_to_state.py ├── convert_vicon_to_state.py ├── generate_random_forest.py ├── goal_monitor_node.py ├── goal_sender.py ├── hermite_test_unconstrained_opt_3d.ipynb ├── hw_bag_record.py ├── kill_ros_processes.py ├── test_unconstrained_opt.ipynb └── test_unconstrained_opt_3d.ipynb ├── setup.sh ├── src ├── dgp │ ├── dgp_manager.cpp │ ├── dgp_planner.cpp │ ├── graph_search.cpp │ └── utils.cpp ├── mighty │ ├── convert_goal_to_cmd_vel.cpp │ ├── convert_odom_to_state.cpp │ ├── convert_velodyne_to_ros_time.cpp │ ├── convert_vicon_to_state.cpp │ ├── fake_dynamic_obstacles.cpp │ ├── fake_sim.cpp │ ├── lbfgs_solver.cpp │ ├── lbfgs_solver_utils.cpp │ ├── mighty.cpp │ ├── mighty_node.cpp │ ├── obstacle_tracker_node.cpp │ └── utils.cpp ├── sim │ ├── dynamic_forest_node.cpp │ ├── gazebo_ros_imu_sensor.cpp │ └── move_model.cpp └── test │ └── test_lbfgs_solver.cpp ├── urdf ├── _d435.gazebo.xacro ├── _d435.urdf.xacro ├── _d435i.gazebo.xacro ├── _d435i.urdf.xacro ├── _t265.gazebo.xacro ├── _t265.urdf.xacro ├── basse_flower │ ├── model.config │ └── model.sdf ├── dyn_obstacle1.urdf.xacro ├── generic_camera.urdf.xacro ├── p3at.urdf.xacro ├── p3at_manual.urdf ├── pioneer3at_body.urdf.xacro ├── quadrotor.urdf.xacro ├── quadrotor_base.urdf.xacro ├── sonar_sensor.urdf.xacro ├── wall1 │ ├── model.config │ └── model.sdf ├── wall2 │ ├── model.config │ └── model.sdf └── wall3 │ ├── model.config │ └── model.sdf └── worlds ├── ACL_office.world ├── ACL_office_with_backpack.world ├── big_forest.world ├── big_forest_high_res.world ├── dynamic_forest.world ├── easy_forest.world ├── easy_high_forest.world ├── empty.world ├── empty_wo_ground.world ├── finals_systems_prelim2.world ├── flight_space.world ├── flight_test_env.world ├── forest.world ├── forest0.world ├── forest2.world ├── forest3.world ├── forest3_with_walls.world ├── hard_forest.world ├── hospital.world ├── medium_forest.world ├── office.world ├── quadruped_easy_forest.world ├── quadruped_forest3.world ├── roi_map_test.world ├── simple_tunnel.world ├── static_uncertainty_test.world ├── static_uncertainty_test2.world ├── 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