├── .env ├── .github └── workflows │ └── ci.yml ├── .gitignore ├── Dockerfile.cuda_pytorch ├── Dockerfile.ros1_base ├── Dockerfile.ros1_bridge_builder ├── Dockerfile.ros1_gbplanner ├── Dockerfile.ros2_base ├── Dockerfile.ros2_cbf ├── Dockerfile.ros2_cuda ├── Dockerfile.ros2_nmpc ├── Dockerfile.ros2_rl ├── Dockerfile.ros2_ros1_bridge ├── Dockerfile.ros2_sim ├── Dockerfile.ros2_vlm ├── LICENSE ├── Makefile ├── README.md ├── docker-bake.hcl ├── docker-compose.base.yml ├── docker-compose.build.yml ├── docker-compose.robot.yml ├── docker-compose.rosbag_play.yml ├── docker-compose.slam_demo.yml ├── docker-compose.uav_nmpc_sim.yml ├── docker-compose.uav_nmpc_unipilot_sim.yml ├── docker-compose.uav_rl_sim.yml ├── docker-compose.ugv_sim.yml ├── docker-compose.vlm_demo.yml ├── docker-compose.yml ├── docs ├── architecture.md ├── bib │ └── ua.bib ├── cbf.md ├── datasets.md ├── deployment.md ├── examples.md ├── figures │ ├── UnifiedResilientAutonomy.png │ ├── UniversalPlanningDetail.png │ ├── arl_logo.png │ ├── indicative_results │ │ ├── result_anymal.png │ │ ├── result_lokken.png │ │ ├── result_lokken_accumulated_radar_cloud.png │ │ ├── result_nmpc.png │ │ ├── result_rl.png │ │ ├── result_runehamar_hornbill_lri.png │ │ └── result_runehamar_magpie.png │ ├── rmf.png │ ├── rmf_lidar_orientation.png │ ├── rmf_unipilot.png │ ├── rmf_unipilot_lidar_orientation.png │ ├── ugv.png │ ├── ui.png │ └── unipilot │ │ ├── anymal_mount_v2.png │ │ ├── ariel_dora.png │ │ ├── fixed_wing_unit.png │ │ ├── handheld.png │ │ ├── magpie_module.png │ │ ├── module_fov_side_view.png │ │ ├── module_fov_top_view.png │ │ ├── module_oblique_view.png │ │ ├── unipilot.png │ │ ├── unipilot_back_transp.png │ │ └── unipilot_front_transp.png ├── hardware.md ├── index.md ├── indicative_results.md ├── installation.md ├── javascripts │ └── mathjax.js ├── navigation.md ├── nmpc.md ├── planned_upgrades.md ├── planning.md ├── platforms.md ├── prior_results.md ├── report │ ├── UnifiedAutonomyStack-Outline.md │ └── figs │ │ ├── UnifiedResilientAutonomy.png │ │ ├── Universal-Planning-Detail.png │ │ ├── merged-multi-domain-photo.jpg │ │ ├── mimosa-factorgraph.png │ │ ├── navigation-stack-diagram.png │ │ ├── navigation-stack.png │ │ ├── slam_architecture.pdf │ │ ├── unipilot-expansion-loop.gif │ │ └── unipilot-expansion.gif ├── rl.md ├── simulation.md ├── slam.md ├── stylesheets │ └── extra.css └── vlm.md ├── entrypoint.sh ├── mkdocs.yml ├── repos ├── patches │ └── ws_mmwave_ti_ros.patch ├── robot_bringup.repos ├── robot_bringup_exact.repos ├── ws_cam_sync.repos ├── ws_cam_sync_exact.repos ├── ws_cbf.repos ├── ws_cbf_exact.repos ├── ws_ethzasl_msf.repos ├── ws_ethzasl_msf_exact.repos ├── ws_gbplanner.repos ├── ws_gbplanner_exact.repos ├── ws_mavros.repos ├── ws_mavros_exact.repos ├── ws_mimosa.repos ├── ws_mimosa_exact.repos ├── ws_mmwave_ti_ros.repos ├── ws_mmwave_ti_ros_exact.repos ├── ws_nmpc.repos ├── ws_nmpc_exact.repos ├── ws_rl.repos ├── ws_rl_exact.repos ├── ws_ros1_bridge.repos ├── 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