this repository is for the ego planner swarm simulation or CMPCC with PX4, in gazebo.
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ego_swarm: https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git
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px4_ctrl:https://github.com/ZJU-FAST-Lab/Fast-Drone-250.git
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repo based on: https://space.bilibili.com/447348870
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Corridor minimum-snap PRM planning: https://github.com/edmundwsy/RO47005-PDM-Final.git