Udaan — Aerial robotics framework

A Python MuJoCo-based simulation and control framework for quadrotors, cable-suspended payload systems, and multi-quad cooperative transport.

Getting started

• Installation
• Quick Start
  • CLI
  • Python
• Documentation
• License

Guides

• Getting started
  • Install
  • Your first simulation
  • Next steps
• Running simulations
  • Model capabilities
    • Input and force types
    • Cable models (payload only)
  • Quadrotor
  • Quadrotor with cable-suspended payload
  • Side-by-side fleets
  • Scripted (Python)
• Controllers
  • Quadrotor
  • Quadrotor with cable-suspended payload
  • Swapping a controller
  • Tuning gains
  • Writing your own controller

Theory

• Theory
  • Preliminaries
    • Symbol table
    • Hat and vee maps
    • Rotation group \(SO(3)\)
    • Sphere \(S^2\)
    • References

API reference

• udaan package
  • Subpackages
    • udaan.cli package
    • udaan.control package
    • udaan.core package
    • udaan.manif package
    • udaan.models package
    • udaan.utils package
  • Module contents

References

• References

Indices and tables

• Index

• Module Index

• Search Page