# ZJU-FAST-Lab/ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.

Repository: https://github.com/ZJU-FAST-Lab/ego-planner-swarm
Canonical: https://ross.abutalabs.com/products/ego-planner-swarm
Language: C++
License: GPL-3.0
License Family: copyleft
Last push: 2025-03-08T14:16:40+00:00

## Health v2 (maintenance only)
Score: 37/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 10, release rhythm 35, longevity 100
- inputs: {"age_days": 2149, "days_push": 543, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2151, forks 379 (observed 2026-08-28T04:06:19.329479+00:00)

## What it is
EGO-Swarm is a decentralized, asynchronous trajectory planner for single and multi-agent quadrotor navigation in unknown, obstacle-rich environments, running on onboard resources. It extends EGO-Planner to swarm navigation and is built as a ROS package in C++ with an included UAV simulator.

## Use cases
- plan collision-free trajectories for a swarm of drones in cluttered environments
- simulate multi-quadrotor autonomous navigation in unknown scenes
- run decentralized onboard motion planning for multicopters
- research and benchmark drone swarm navigation algorithms
- visualize planned drone trajectories in rviz

## When to choose
- you need efficient local trajectory planning for one or many quadrotors
- you want a decentralized swarm navigation solution using only onboard compute
- you work in ROS/ROS2 with C++ and need a research-grade planner with a simulator

## When to avoid
- you need planning for ground robots or non-aerial vehicles
- you require a global planner with prior maps rather than local replanning in unknown environments
- your project cannot use GPL-3.0 licensed code

## Facets
- artifact type: library
- maturity: stable
- function: simulation, robotics, machine-learning
- domain: robotics, autonomous-vehicles, simulation
- platform: cpp
- tags: trajectory-planning, drone-swarm, quadrotor, motion-planning, ros, obstacle-avoidance, multi-agent, linux

## Member repositories
- ZJU-FAST-Lab/ego-planner-swarm (main) score 37

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:06:19.329479+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T02:50:55.918161+00:00, confidence not recorded.
  - readme: https://github.com/ZJU-FAST-Lab/ego-planner-swarm (fetched 2026-08-28T04:06:19.329479+00:00, sha 4e706f5acd4c)
- Data as of 2026-08-30T08:39:29.467469+00:00.