FASTER

FASTER is a research-grade 3D trajectory planner for autonomous navigation in unknown environments. It was developed for both aerial robots and ground vehicles that must move safely while new obstacles are discovered. The planner continuously builds safe and unknown-space trajectory segments rather than assuming the environment is fully mapped. Optimization is used to generate dynamically feasible paths while maintaining safety constraints. The project integrates with ROS, Gazebo, MAVROS, mapping components, and the Gurobi optimizer. Simulation examples demonstrate navigation for UAVs and ground robots in cluttered spaces. FASTER was published in IEEE Transactions on Robotics and is primarily intended for robotics research rather than turnkey consumer navigation.