UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

Yichen Zhang^†, Xinyi Chen, Peize Liu, , Junzhe Wang, Hetai Zou, Neng Pan, Fei Gao, Shaojie Shen

HKUST Aerial Robotics Group, ZJU FAST Lab
^†Corresponding Author

Updates

• 04 Jul 2024: Project website published. All CAD models with online preview and essential components can be downloaded from the website.
• 29 Jun 2024: Submitted to ICRA@40

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Collection Photo of UniQuad Series

The example quadrotor platforms in UniQuad series provided in this article, namely Uni250L, Uni127C, Uni350CL and Uni250C from left to right. Note that these four models merely serve as examples of the platform series, which can be further extended and customized on your own choice.

Detailed Information

Front and back view of Uni127C quadrotor platform ¹

Front and back view of Uni250C quadrotor platform.

Front and back view of Uni250L quadrotor platform.

Front and back view of Uni350CL quadrotor platform.

1. Uni127C was inspired by the 3-inch quadrotor from Learning Agility Adaptation for Flight in Clutter, which is credit to its designer Neng Pan.

More Extensions

Uni250CL RK3588 (LubanCat-4), Uni250L Avia, Uni350CL RTK Gimbal ...

Useful Links

1. realsense-ros: ROS Wrapper for Intel(R) RealSense(TM) Cameras, https://github.com/IntelRealSense/realsense-ros
2. librealsense: Intel® RealSense™ SDK, https://github.com/IntelRealSense/librealsense
3. Livox-SDK, Livox-SDK2, livox_ros_driver, livox_ros_driver2: https://github.com/Livox-SDK
4. VINS-Fusion: An optimization-based multi-sensor state estimator, https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
5. FAST_LIO: A computationally efficient and robust LiDAR-inertial odometry (LIO) package, https://github.com/hku-mars/FAST_LIO
6. Fast-Planner: A Robust and Efficient Trajectory Planner for Quadrotors, https://github.com/HKUST-Aerial-Robotics/Fast-Planner
7. px4ctrl: https://github.com/ZJU-FAST-Lab/Fast-Drone-250/tree/master/src/realflight_modules/px4ctrl

Acknowledgements

1. Nxt-FC: Mini PX4 for UAV Group, https://github.com/HKUST-Aerial-Robotics/Nxt-FC
2. ZJU Fast-Drone-250: https://github.com/ZJU-FAST-Lab/Fast-Drone-250