Datasets:
trajectory_type stringclasses 11
values | start_position listlengths 3 3 | goal_position listlengths 3 3 | waypoints listlengths 5 29 | obstacle_position listlengths 3 3 ⌀ | dt float64 0.1 0.1 | episode_id int64 0 1.35k | states listlengths 17 10.3k |
|---|---|---|---|---|---|---|---|
smooth_random | [
33.373867,
-12.515539,
-5.268928
] | [
33.490831,
-5,
-4
] | [
[
33.373867,
-12.515539,
-5.268928
],
[
32.458038,
-13.17386,
-5.239429
],
[
30.820996,
-13.077096,
-4.404784
],
[
29.935155,
-13.981564,
-4.409779
],
[
28.306078,
-14.866228,
-4
],
[
27.053955,
-15,
-4
],
[
25.53879... | null | 0.1 | 0 | [
[
0.000392,
33.488449,
-12.522312,
-5.561652,
0.975229,
0.015445,
0.220654,
0.001061,
3.164764,
-0.23862,
-1.755615,
-0.011978,
-0.167755,
-0.00151,
-3.927024,
0.270806,
1.680712
],
[
0.000785,
33.488449,
-12.522312,
-5.561652,
... |
hover_arrival | [
-7.000044,
-11.285428,
-4.715452
] | [
40.994069,
-5,
-4.398659
] | [
[
-7.000044,
-11.285428,
-4.715452
],
[
-2.62548,
-10.596533,
-5.06725
],
[
0.972161,
-9.868576,
-4.202954
],
[
4.803413,
-9.546496,
-4.479676
],
[
8.932687,
-9.430825,
-4.758197
],
[
12.728252,
-8.796648,
-4.962777
],
[... | null | 0.1 | 1 | [
[
0.001395,
-7.149958,
-11.259553,
-5.337029,
-0.838734,
0.095743,
0.26231,
-0.467495,
-4.666701,
-0.633039,
-1.711114,
-0.317222,
-0.267001,
-0.021029,
8.693755,
1.387899,
-3.918684
],
[
0.001737,
-7.149958,
-11.259553,
-5.3370... |
hover_arrival | [
5.03079,
-6.934001,
-5.989696
] | [
37.411774,
-15,
-4
] | [
[
5.03079,
-6.934001,
-5.989696
],
[
6.769516,
-7.411693,
-5.983968
],
[
7.872426,
-7.399241,
-5.609111
],
[
9.845074,
-7.863945,
-5.625276
],
[
11.158083,
-8.279684,
-5.575929
],
[
12.621022,
-8.377313,
-5.550984
],
[
... | null | 0.1 | 2 | [
[
0.000505,
4.943404,
-6.939106,
-5.839514,
-0.982096,
-0.025941,
0.144613,
0.117901,
-2.378468,
-0.158159,
-0.769042,
-0.008872,
0.023201,
0.002175,
2.885434,
0.167838,
0.354295
],
[
0.001075,
4.943404,
-6.939106,
-5.839514,
... |
line | [
43.09008,
-6.740602,
-4.702396
] | [
50,
-5,
-4
] | [
[
43.09008,
-6.740602,
-4.702396
],
[
43.745921,
-6.725898,
-4.515833
],
[
44.168253,
-6.486103,
-4.486134
],
[
44.53046,
-6.577265,
-4.310151
],
[
44.01889,
-6.609318,
-5.165696
],
[
44.014795,
-6.593534,
-4.497751
],
[... | null | 0.1 | 3 | [
[
0.000376,
43.189056,
-6.715744,
-5.336897,
-0.984871,
0.126072,
-0.115866,
-0.026636,
1.802653,
2.289518,
-0.049894,
-0.07404,
0.069269,
0.006013,
-2.230829,
-2.567007,
0.452293
],
[
0.000759,
43.189056,
-6.715744,
-5.336897,
... |
periodic | [
45.648875,
-5.154592,
-6.424766
] | [
37.074818,
-15,
-6.492591
] | [
[
45.648875,
-5.154592,
-6.424766
],
[
49.883598,
-11.973579,
-6.444998
],
[
43.760617,
-9.714358,
-6.244575
],
[
32.365714,
-7.367254,
-6.412784
],
[
41.418195,
-14.184876,
-6.435168
],
[
50,
-15,
-6.442076
],
[
39.... | null | 0.1 | 4 | [
[
0.000472,
49.153217,
-5.354909,
-4.155307,
0.99934,
0.005338,
0.010379,
0.034405,
1.236883,
0.286858,
0.28949,
0.013991,
0.063175,
-0.094735,
-0.213082,
0.096497,
-0.119583
],
[
0.103019,
49.277092,
-5.325233,
-4.121596,
0... |
turn | [
-9.735907,
-5.227248,
-6.403447
] | [
7.120002,
-5.855742,
-7
] | [[-9.735907,-5.227248,-6.403447],[-8.026033,-6.427616,-6.434895],[-6.502066,-7.646846,-6.394906],[-5(...TRUNCATED) | null | 0.1 | 5 | [[0.00072,-9.853408,-5.200796,-7.0233,-0.962849,0.068922,0.159157,-0.206981,-2.850921,0.617569,-0.06(...TRUNCATED) |
line | [
36.676654,
-8.477279,
-5.311977
] | [
50,
-15,
-7
] | [[36.676654,-8.477279,-5.311977],[37.133403,-8.343917,-5.23436],[37.947539,-8.996716,-5.656387],[38.(...TRUNCATED) | null | 0.1 | 6 | [[0.000492,36.780289,-8.486976,-5.799306,0.634992,-0.084833,0.085471,-0.763075,2.135437,-0.206153,0.(...TRUNCATED) |
sharp_change | [
-2.974665,
-8.835195,
-4.696004
] | [
-10,
-10.671957,
-6.307208
] | [[-2.974665,-8.835195,-4.696004],[-0.793152,-9.02537,-4.752448],[0.97197,-8.583763,-4.413223],[3.214(...TRUNCATED) | null | 0.1 | 7 | [[0.000538,-3.115368,-8.834557,-5.685883,0.853061,0.087944,-0.227255,-0.461419,-3.600251,0.337226,-1(...TRUNCATED) |
periodic | [
46.812959,
-6.591984,
-6.589029
] | [
47.246286,
-15,
-7
] | [[46.812959,-6.591984,-6.589029],[50.0,-8.554296,-6.412004],[50.0,-10.586716,-6.181896],[49.995421,-(...TRUNCATED) | null | 0.1 | 8 | [[0.000529,-5.481856,-9.756078,-7.303372,-0.958852,-0.057803,0.205032,0.187677,0.285431,0.01844,-0.0(...TRUNCATED) |
altitude_change | [
29.419488,
-5.001963,
-6.889028
] | [
40.670635,
-5,
-7
] | [[29.419488,-5.001963,-6.889028],[30.224261,-5.0,-6.42504],[30.206431,-5.0,-7.0],[30.540309,-5.15527(...TRUNCATED) | null | 0.1 | 9 | [[0.001401,29.326962,-4.961125,-7.399479,0.624622,-0.12039,-0.022384,0.771267,-1.910268,1.039445,0.1(...TRUNCATED) |
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ProjectAirSim UAV Kinematic Trajectories
This dataset contains UAV trajectory episodes collected from ProjectAirSim. Each row is one episode. The states field is a variable-length sequence sampled at approximately 10.00 Hz.
State vector:
[t, x, y, z, qw, qx, qy, qz, vx, vy, vz, wx, wy, wz, ax, ay, az]
Fields:
episode_id: integer episode index.trajectory_type: trajectory family used to generate waypoints.start_position: NED start position[x, y, z]in meters.goal_position: NED final goal position[x, y, z]in meters.waypoints: planned intermediate NED waypoints.obstacle_position: synthetic obstacle center for avoidance episodes, otherwise null.dt: target sampling interval in seconds.states: sampled kinematic history.
Trajectory types:
altitude_changeavoidancecombinedhover_arrivallineout_and_backperiodicsharp_changesmooth_randomspiralturn
Source:
Generated with the ProjectAirSim Python client using asynchronous UAV velocity commands and ground-truth kinematics.
The data collection scripts and generation pipeline are publicly available in the following GitHub repository:
https://github.com/QinCheng0928/ProjectAirSim-UAV-Kinematic-DataGen.git
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