Implementation of control, planning, vision and state estimation algorithms for CrazyFile 2.0 quadrotor

Subsystems implemented

• Stereo Visual Inertial Odometry using Error State Kalman Filter
• Geometric Tracking Control of a Quadrotor UAV on SE(3)
• Dynamic A* path planning with minimum acceleration (cubic spline) fitting for smooth trajectories.

Results

• On Crazyflie 2.0 drone

VID-20250319-WA0011.mp4

• On simulation

Screencast.from.04-20-2025.04.19.41.PM.webm

Usage:

cd quadrotor_control
pip install -e .
python quadrotor_control/code/sandbox.py

This was done as a course project for MEAM 6200: Advanced Robotics, at UPenn, and the demo simulator is provided by the teaching staff.