FlightBench is an open-source comprehensive benchmark for planning methods on ego-vision-based navigation for quadrotors built on Flightmare. FlightBench provides cusomizable test scenarios (including three quantitative task difficulty metrics), representative planning algorithms, and comprehensive evaluation metrics. FlightBench also integrates the MAPPO algorithm, facilitating the training of RL-based planning methods.
For usage and more details, please refer to the documentation
Please cite our paper FlightBench: A Comprehensive Benchmark of Spatial Planning Methods for Quadrotors if you use FlightBench in your work.
@article{yu2024flightbench,
title={FlightBench: A Comprehensive Benchmark of Spatial Planning Methods for Quadrotors},
author={Yu, Shu-Ang and Yu, Chao and Gao, Feng and Wu, Yi and Wang, Yu},
journal={arXiv preprint arXiv:2406.05687},
year={2024}
}The source code is released under GPLv3 license.
All third party libraries we used are listed bellow:
| repository | License |
|---|---|
| flightmare | MIT |
| Fast-Planner | GPLv3 |
| ego-planner | GPLv3 |
| TGK-Planner | GPLv3 |
| sb_min_time_quadrotor_planning | GPLv3 |
| agile_autonomy | GPLv3 |