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UAV ODA Obstacle Avoidance Processed Results
This private repository stores processed project data and experiment outputs for an indoor/GNSS-denied UAV obstacle avoidance and collision-risk benchmark.
Contents
data/: extracted/processed local project data used by the experiments.outputs/: benchmark tables, figures, qualitative videos, logs, and summaries.reports/: LaTeX/PDF report artifacts.src/,experiments/,scripts/,docs/: code and documentation needed to reproduce the project pipeline.
Dataset Sources
Primary benchmark:
- ODA Dataset: https://github.com/JuSquare/ODA_Dataset
- 4TU record: https://doi.org/10.4121/14214236.v1
External sensing stress tests:
- ARCO Dataset: https://robotics.upo.es/datasets/ArcoDataset/main.html
- Multi-LiDAR Multi-UAV Dataset: https://tiers.github.io/multi_lidar_multi_uav_dataset/
Scope
ODA remains the main UAV obstacle-avoidance benchmark for trajectory risk, clearance, planner comparison, and perception-risk features. ARCO is used as a LiDAR/radar/IMU sensing stress test, including real PointCloud2 segmentation and 3D bounding boxes. Multi-LiDAR is tracked as a UAV LiDAR extension target; its SharePoint downloads currently require authentication.
Reproducibility
The main audit command is:
python3 scripts/audit_goal_status.py
python3 -m py_compile src/*.py src/planners/*.py experiments/*.py scripts/*.py
The repository intentionally does not include the duplicate full ODA ZIP archives
stored on the server under /workspace/data; those should be downloaded from the
original dataset source when needed.
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