Dataset for manuscripts "Unlocking Aerobatic Potential of Quadcopters: Autonomous Freestyle Flight Generation and Execution".

This dataset includes the raw data for the images in the manuscript except for the schematic drawings.

Large-scale aerobatic flight

Code: outdoor.mlx

Data: outdoor_data/

• outdoor_final.bag: This rosbag captures all essential data during outdoor flight in real-world experiments.

• outdoor_map.pcd: Pointcloud map file of the outdoor flight environment.

• [ManeuverName]View[id].mp4: Video files showcasing different maneuvers from various perspectives during rosbag playback in Rviz visualization software.

Successive aerobatic maneuvers in confined spaces

Code: indoor.mlx

Data: indoor_data/

• nokov[id].bag: The rosbag captures all essential data during indoor flight in real-world experiments. Each bag representing a single aerobatic flight. Data package representing indoor experimental flights, with each package representing a single flight.

• indoor_map.pcd: Pointcloud map file of the indoor flight environment.

Combination of aerobatic intentions

Data: intention_simulation/

• [ManeuverName]_Intention.png: Input aerobatic intentions.

• [ManeuverName]_Action.png: Maneuvers generated based on intentions.

These pictures are rendered using Blender.

Ablation analyses

Yaw compensation

Code:

• ablation_yaw_comp.mlx

• yaw_sensitivity.mlx

Data: ablation_data/YawComp/

• [with/without]YCM.mp4: Slow-motion footage of the drone executing flight trajectories in the yaw-sensitive area at 1/50th of the original speed.

• [with/without]YCM.txt: State computation of the entire trajectory, with a time interval of 0.2 microseconds for each line of state.

Trajectory optimization

Code:

• ablation_traj_opt.mlx

• attitude_penalty.mlx

Data: ablation_data/TrajOpt/

• OptTrajRet.txt: Various evaluation metrics obtained from 90 trajectory generations.

• [ManeuverName]_[OptimizeCondition].png: Typical optimized trajectories under different optimization conditions for various maneuvers.

Additional data in the rebuttal

Matching and surpassing human pilots

Code:

• human_single.mlx

• human_multi.mlx

Data: human_competition/[single/multi]/[auto/manual]/[id].bag: The rosbag captures all essential data about drone flight in competition.

Accurate thrust module fitting

Code: thrust_fitting.mlx

Data: thrust_fitting/[lidar/nokov].csv: measured calibration data of two drones.

Optimization of 1000 aerobatic trajectories.

Code: repeat_trajopt.mlx

Data: repeat_traj_opt/

• opt_result.txt: final output results of the trajectory optimization problem.

• optBoundValue.txt: boundary values of trajectories.

• trajpos.txt: position, velocity, and orientation of the trajectories.