What’s in it for you?

Agilicious is split in two parts, agilib and agiros.

agilib contains base classes and module implementations providing the base functionality necessary for agile flight. It contains controllers, estimators, and logic, but with minimal dependencies (mainly Eigen). It allows users to integrate Agilicious into their own infrastructure and can easily be extended with new modules. Meanwhile, agiros provides bindings to common ROS interfaces, which make it easy and quick to set up and get flying, both in simulation and real world.

In summary, this library offers the following modules:

Pipelines

The Pipeline architecture provides a modular way to combine controllers, estimators, reference trajectories into a complete control system. It is possible to create multiple pipelines and switch between them at runtime, allowing rapid prototyping.

Controllers

Model Predictive Control descred in Falanga IROS’18 and Sun TRO’22
Incremental Nonlinear Dynamic Inversion described in Sun TRO’20
Geometric Control described in Sun TRO’22
Cascaded PID similar to Faessler RAL’18

Estimators

A standard EKF using a pose estimate and propagating with IMU measurements.
An EKF that uses a constant acceleration model and the Pose + IMU measurements.
A feedthrough module that provides a simple way to pipe in your own estimate sources.
A mock estimator that can corrupt an estimate with noise and bias to simulate real-world properties.

References

Hover
Velocity Commands
Sampled Trajectories
Polynomial Trajectories

Samplers

Time-based sampling along a given reference.
Positional sampling along a given reference which allows to robustly handle large disturbances.

Bridges

RotorS interface
Serial bridge to interface with our own flight control software
Serial bridge to interface through LAIRD wireless modules.
Serial bridge to interface with BetaFlight controllers.

Pilot

The Pilot handles all logic and interfacing.

Guard

A safety guard implementation that can use a secondary estimate (e.g. motion capture) and take over if some criteria are invalidated. The guard can use a secondary pipeline configuration without relying on the user-defined modules. This allows for rapid prototyping with a virtual “safety net”.

Simulator

A sophisticated and configurable simulation that runs magnitudes faster than real time and optionally provides aerodynamic BEM models as described in Bauersfeld RSS’21.