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XTDrone is a UAV simulation platform based on PX4, ROS and Gazebo. XTDrone supports mulitrotors (including quadrotors and hexarotors), fixed wings, VTOLs (including quadplanes, tailsitters and tiltrotors) and other unmanned systems (such as UGVs, USVs and robotic arms). It's convenient to deploy the algorithm to real UAVs after testing and debugging on the simulation platform.

Architecture for single vehicle simulation is shown as the below figure. For more details, please see the paper

K. Xiao, S. Tan, G. Wang, X. An, X. Wang and X. Wang, "XTDrone: A Customizable Multi-rotor UAVs Simulation Platform," 2020 4th International Conference on Robotics and Automation Sciences (ICRAS), 2020, pp. 55-61, doi: 10.1109/ICRAS49812.2020.9134922.

ArXiv preprint arXiv:2003.09700 (2020)

Architecture for multiple vehicle simulation is shown as the below figure. For more details, please see the paper

K. Xiao, L. Ma, S. Tan, Y. Cong , X. Wang, "Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform," Advances in Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, 2022, vol 644. Springer, Singapore. doi: 10.1007/978-981-15-8155-7_423

ArXiv preprint arXiv:2005.01125 (2020)

If you use XTDrone for your academic research, please cite our related papers.

Developers can quickly verify algorithms with XTDrone, such as:

Stereo SLAM

Visual Inertial Navigation

Visual Dense Reconstruction

2D Laser SLAM

3D Laser SLAM

2D Motion Planning

3D Motion Planning

Swarm Motion Planning

Object Detection and Tracking


Multi-UAV Precision Landing

Fixed wing




Robot Arm

User manual

XTDrone Manual

Developing Team

  • Founders: Kun Xiao, Shaochang Tan
  • Adviser: Xiangke Wang
  • Developers: Kun Xiao, Shaochang Tan, Guanzheng Wang, Lan Ma, Yuke Li, Qipeng Wang, Xinyu Hu, Xinning Wu, Jiayi Zheng, Yufan Peng, Zijun Zheng, Jiarun Yan, Feng Yi, Ruoqiao Guan, Wenxin Hu, Yi Bao, An Zhuo, Xudong Liu, Jie Min, Chuanlu Liu, Ciyu Ruan


Sincerely thank you for your contribution to XTDrone.

Keyan Chen, Jiangwei Xu, Yongguang Lu, Gao Chen, Changhao Sun, Ying Nie, Fanjie Kong, Chaoran Li, Xudong Li, Huaqing Zhang, Zihan Lin, Yao He

Business cooperation

For commercial inquiries, please contact Kun Xiao .