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 confined spaces 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. 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. Additional data in the rebuttal Matching and surpassing human pilots Code: human_single.mlx human_multi.mlx Data: human_competition/[single/multi]/[auto/manual]/[id].bag: The rosbag captures all essential data about drone flight in competition. Accurate thrust module fitting Code: thrust_fitting.mlx Data: thrust_fitting/[lidar/nokov].csv: measured calibration data of two drones. Optimization of 1000 aerobatic trajectories. Code: repeat_trajopt.mlx Data: repeat_traj_opt/ opt_result.txt: final output results of the trajectory optimization problem. optBoundValue.txt: boundary values of trajectories. trajpos.txt: position, velocity, and orientation of the trajectories.