open source
Open-source projects, paper code, and research tools from SOARLAB.
Open systems for flying general intelligence
Open Source
SOARLAB releases reproducible systems, real-robot platforms, and research tools. This page collects new lab projects and code/project pages connected to representative publications.
Lab Projects
SOARLAB · Agent Tooling
OpenPrism
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A multi-tier drawing plugin for the OpenCode ecosystem, bringing Mermaid diagrams, Matplotlib publication-quality plots, Plotly.js interactive charts, and AIGC image generation into AI coding-agent workflows.
Paper-Linked Projects
TRO 2025
FINT
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Code and system resources for Autonomous Flights Inside Narrow Tunnels, targeting autonomous flight in narrow tunnel environments.
IROS 2024
OmniNxt
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An open-source compact aerial robot with omnidirectional visual perception for localization, dense mapping, and real-world flight validation.
TRO 2024
D2SLAM
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A decentralized and distributed collaborative visual-inertial SLAM system for aerial swarms, covering near-field relative estimation and globally consistent trajectories.
TRO 2023 · Best Paper
RACER
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A decentralized multi-UAV rapid collaborative exploration system and IEEE TRO King-Sun Fu Memorial Best Paper Award winner.
TRO 2022
Omni-Swarm
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A decentralized omnidirectional visual-inertial-UWB state-estimation system for aerial swarms, supporting centimeter-level relative estimation and global consistency.
SLAM Software
VINS-Fisheye
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A fisheye version of VINS-Fusion with GPU/VisionWorks acceleration. It is part of Omni-Swarm and can also be used independently for robot localization.