Algorithm atlas

Every algorithm in the library has a runnable simulation that renders a three-panel animation, writes a JSON log, and cites its source.

flybots list                 # browse the catalogue
flybots info astar_3d        # references and usage for one
flybots run astar_3d         # render it

Or as a module: python -m uav_sim.simulations.<category>.<name>.

43

simulations

10

domains

100%

with references

Reading order

Estimation → control and tracking → planning → perception → swarm. Each builds on the state representation the previous one establishes.

Vehicles

Algorithm	Article	Preview
Quadrotor dynamics	Open
Fixed-wing flight	Open
VTOL transition	Open

See also the model documentation: quadrotor, fixed-wing, VTOL.

Estimation

Algorithm	Article	Preview
Complementary filter	Open
Extended Kalman filter	Open
Unscented Kalman filter	Open
GPS-IMU fusion	Open
Particle filter	Open

Control and path tracking

Algorithm	Article	Preview
PID hover	Open
LQR hover	Open
LQR path tracking	Open
MPC tracking	Open
Geometric SO(3)	Open
Pure pursuit 3D	Open
Path smoothing	Open
Flight operations sequence	Open
Fixed-wing mission navigation	Open

Path planning

Algorithm	Article	Preview
A* 3D	Open
RRT* 3D	Open
PRM 3D	Open
Potential field 3D	Open
Coverage planning	Open

Trajectory planning

Algorithm	Article	Preview
Minimum snap	Open
Polynomial trajectory	Open
Quintic polynomial	Open
Frenet optimal	Open

Trajectory tracking

Algorithm	Article	Preview
Feedback linearisation	Open
NMPC	Open
MPPI	Open

Perception

Feature	Article	Preview
EKF-SLAM	Open
Occupancy mapping	Open
Visual servoing	Open
Sensor suite	Open

Sensors

Feature	Article	Preview
Gimbal FOV tracking	Open
Gimbal bounding-box tracking	Open

Environment and costmaps

Feature	Article	Preview
Dynamic costmap navigation	Open

Swarm

Algorithm	Article	Preview
Reynolds flocking	Open
Consensus formation	Open
Virtual structure	Open
Leader-follower	Open
Potential swarm	Open
Voronoi coverage	Open

Reinforcement learning

Not simulations but environments — see Reinforcement learning for the six tasks and the trainer.

Notes on the previews

Preview GIFs are stored in Git LFS and served through media.githubusercontent.com. Regenerate any of them locally with flybots run <name>; they are written next to the simulation's run.py.