Dataset - Unlocking Aerobatic Potential of Quadcopters: Autonomous Freestyle Flight Generation and Execution

Dataset for manuscripts "Unlocking Aerobatic Potential of Quadcopters: Autonomous Freestyle Flight Generation and Execution".

This dataset includes the raw data for the images in the manuscript except for the schematic drawings.

Large-scale aerobatic flight

Code: outdoor.mlx

Data: outdoor_data/

outdoor_final.bag: This rosbag captures all essential data during outdoor flight in real-world experiments.

outdoor_map.pcd: Pointcloud map file of the outdoor flight environment.

[ManeuverName]View[id].mp4: Video files showcasing different maneuvers from various perspectives during rosbag playback in Rviz visualization software.

Successive aerobatic maneuvers in cramped quarters

Code: indoor.mlx

Data: indoor_data/

nokov[id].bag: The rosbag captures all essential data during indoor flight in real-world experiments. Each bag representing a single aerobatic flight. Data package representing indoor experimental flights, with each package representing a single flight.

indoor_map.pcd: Pointcloud map file of the indoor flight environment.

Any combination of aerobatic intentions

Data: intention_simulation/

[ManeuverName]_Intention.png: Input aerobatic intentions.

[ManeuverName]_Action.png: Maneuvers generated based on intentions.

These pictures are rendered using Blender.

Ablation analyses

Yaw compensation

Code:

ablation_yaw_comp.mlx

yaw_sensitivity.mlx

Data: ablation_data/YawComp/

[with/without]YCM.mp4: Slow-motion footage of the drone executing flight trajectories in the yaw-sensitive area at 1/50th of the original speed.

[with/without]YCM.txt: State computation of the entire trajectory, with a time interval of 0.2 microseconds for each line of state.

Trajectory optimization

Code:

ablation_traj_opt.mlx

attitude_penalty.mlx

Data: ablation_data/TrajOpt/

OptTrajRet.txt: Various evaluation metrics obtained from 90 trajectory generations.

[ManeuverName]_[OptimizeCondition].png: Typical optimized trajectories under different optimization conditions for various maneuvers.