Algorithm Atlas

All algorithm implementations live under src/uav_sim/simulations/ and are documented here as technical articles. Each article links mathematical foundations to implementation behavior with reproducible GIF evidence.

Conventions

• Media base URL: https://media.githubusercontent.com/media/guilyx/autonomous-uav-guide/main/
• Module execution pattern: python -m uav_sim.simulations.<chapter>.<algorithm>
• Recommended reading order: estimation -> control and tracking -> planning -> perception and swarm

Estimation

Algorithm	Article	Evidence
Complementary Filter	Open
Extended Kalman Filter	Open
Unscented Kalman Filter	Open
GPS-IMU Fusion	Open
Particle Filter	Open

Control and Path Tracking

Algorithm	Article	Evidence
PID Hover	Open
LQR Hover	Open
Flight Operations Sequence	Open

Path Planning

Algorithm	Article	Evidence
A* 3D	Open
RRT* 3D	Open
PRM 3D	Open
Potential Field 3D	Open
Coverage Planning	Open

Trajectory Planning

Algorithm	Article	Evidence
Minimum Snap	Open
Polynomial Trajectory	Open
Quintic Polynomial	Open
Frenet Optimal	Open

Trajectory Tracking

Algorithm	Article	Evidence
Feedback Linearisation	Open
MPPI	Open
NMPC	Open

Perception and Sensing

Algorithm	Article	Evidence
EKF-SLAM	Open
Occupancy Mapping	Open
Sensor Suite Fusion	Open
Visual Servoing	Open
Gimbal Tracking	Open
Gimbal BBox Tracking	Open

Environment

Algorithm	Article	Evidence
Dynamic Costmap Navigation	Open

Swarm

Algorithm	Article	Evidence
Reynolds Flocking	Open
Consensus Formation	Open
Virtual Structure	Open
Leader-Follower	Open
Potential Swarm	Open
Voronoi Coverage	Open

Vehicles and Dynamics

Algorithm	Article	Evidence
Quadrotor Dynamics	Open
Fixed-Wing Flight	Open
VTOL Transition	Open