Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a codesigned hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open source and open hardware and supports both model-based and neural network–based controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, graphics processing unit (GPU)–accelerated compute hardware for real-time perception and neural network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural network–based controllers. Our demonstrators include trajectory tracking at up to 5 g and 70 kilometers per hour in a motion capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Last, we demonstrate its use for hardware-in-the-loop simulation in virtual reality environments. Because of its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research.

中文翻译：

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Agilicious：用于基于视觉的飞行的开源和开放硬件敏捷四旋翼飞行器

自主、敏捷的四旋翼飞行在感知、规划、学习和控制方面对机器人研究提出了根本性挑战。需要一个通用和标准化的平台来加速研究，让从业者专注于核心问题。为此，我们提出了 Agilicious，这是一个专为自主、敏捷的四旋翼飞行而设计的硬件和软件框架。它是完全开源和开放硬件，支持基于模型和基于神经网络的控制器。此外，它还为敏捷性、机载视觉传感器、图形处理单元 (GPU) 提供高推力重量比和扭矩惯性比——用于实时感知和神经网络推理的加速计算硬件、实时飞行控制器，以及一个多功能的软件堆栈。与现有框架相比，Agilicious 提供了灵活的软件堆栈和高性能硬件的独特组合。我们将 Agilicious 与之前的工作进行比较，并使用基于模型和基于神经网络的控制器在不同的敏捷任务上进行演示。我们的演示器包括多达 5 个轨迹跟踪G和 70 公里/小时的动作捕捉系统，以及在结构化和非结构化环境中仅使用机载感知的基于视觉的杂技飞行和避障。最后，我们展示了它在虚拟现实环境中用于硬件在环仿真的用途。由于其多功能性，我们相信 Agilicious 支持下一代科学和工业四旋翼研究。