Robot

AirGen currently supports aerial robots (such as quadrotors, vertical takeoff/landing vehicles) and wheeled robots (cars, forklifts, other ground platforms). Each category in turn has several different form factors within it. While both of these robot categories have different methods for control, they share a common API structure for sensors, cameras, and planning.

Upon the start of a session in GRID, a Python object associated with the API of the robot is pre-defined in the first cell of the notebook, named as airgen_drone_0 or airgen_car_0 depending on the category of the robot. The underlying API associated with the robot or the simulation can be accessed through airgen_<robot>_0.client, as explained in the documents later.

The following documents describe how to perform basic control manuevers for aerial and wheeled robots, and also how to extract ground truth information pertaining to the robot from the simulation.

• Basic Drone Control
  • Takeoff and landing
  • Position Control
  • Velocity Control
  • Path Control
  • Angle Control
  • Trajectory Generation
  • Tips
• Basic Car Control
  • Steering/Speed Control
  • Speed Control
• Ground Truth