MRS UAV open-source research platform (license)

Github: source code & guides

We introduce a full-stack Unmanned Aerial Vehicle (UAV) open-source platform with all essential capabilities for research, development, and testing of novel methods. This multirotor (UAV) control and estimation platform are aimed at supporting replicable research through realistic simulations and real-world experiments.

The proposed system is the product of years of applied research in various robotic applications (aerial swarms, aerial manipulation, motion planning, remote sensing, etc.) and has provided support for state-of-the-art research that has resulted in dozens of publications in cooperation with several research groups. All results have been supported by real-world system deployment that subsequently shaped the system into the form it is nowadays.

The system utilizes a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. It enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources.

The platform has actively maintained and well-documented open-source implementation in Github, including realistic simulation of UAVs, sensors, and localization systems.

Our system is ready to be used for a wide range of applications. We are also able to build a MAV hardware platform equipped with the MRS UAV system. Simply use the dronebuilder web page and let us know the application you would like to use our system for and we can prepare the right platform configuration for it.

Key features

  • Built using Robot Operating System, compatible with multiple releases (Melodic, Noetic),
  • Can be deployed on any multi-rotor vehicle, given it is equipped with a PX4-compatible flight controller,
  • Meant to be executed entirely onboard,
  • For both indoor and outdoor,
  • The modular and extensible open-source platform,
  • Scalable for multiple UAVs and is well suited for research in swarming,
  • Satisfies the needs of a wide range of applications,
  • Includes a simulation environment based on the Gazebo 3D simulator,
  • Supports multi-robot experiments using Nimbro network communication,
  • Evolved by years of research in various applications, shaped by real-world system deployments,
  • Provides agile flying as well as robust control,
  • Actively maintained and well-documented

Suitable applications


  1. Start with information for newcomers
  2. Then check chapters in MRS UAV Platform documentation
  3. Go to the entry point of the GitHub MRS UAV system
  4. Get familiar with the system architecture