# HKUST-Aerial-Robotics/Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

Repository: https://github.com/HKUST-Aerial-Robotics/Fast-Planner
Canonical: https://ross.abutalabs.com/products/fast-planner
Language: C++
License: GPL-3.0
License Family: copyleft
Topics: autonomous-navigation, uav, motion-planning, aerial-robotics
Last push: 2024-10-24T13:12:43+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2744, "days_push": 678, "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 3387, forks 774 (observed 2026-08-28T04:07:58.843577+00:00)

## What it is
Fast-Planner is a C++/ROS trajectory planning framework enabling quadrotors to fly fast through complex unknown environments. It provides a foundational codebase of planning algorithms used by popular open-source drone projects like EGO-Planner, FUEL, and RACER.

## Use cases
- plan collision-free trajectories for quadrotors in unknown environments
- enable fast autonomous drone flight
- build a UAV navigation stack with motion planning
- research baseline for quadrotor trajectory optimization
- support autonomous exploration with a drone
- integrate B-spline trajectory optimization into a robot

## When to choose
- you need robust, well-cited quadrotor motion planning for research or deployment
- your project builds on ROS and Ubuntu
- you want a framework compatible with EGO-Planner, FUEL, or RACER

## When to avoid
- you need planning for non-aerial robots like ground vehicles or manipulators
- you require Windows or non-ROS platforms
- you need a plug-and-play commercial autopilot solution rather than a research framework

## Facets
- artifact type: library
- maturity: stable
- function: simulation, robotics
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: quadrotor, trajectory-planning, motion-planning, uav, ros, aerial-robotics, drone-navigation, algorithm, algorithms, linux

## Member repositories
- HKUST-Aerial-Robotics/Fast-Planner (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:58.843577+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 2026-08-29T18:39:09.688324+00:00, confidence not recorded.
  - readme: https://github.com/HKUST-Aerial-Robotics/Fast-Planner (fetched 2026-08-28T04:07:58.843577+00:00, sha 8354c21ed0f7)
- Data as of 2026-08-30T08:39:29.467469+00:00.