👋 Welcome to the ACP Lab

Take a look at what we’re working on…

Explore Our Research

Agile Quadrotor Flights

Watch Our Robots in Action

Flight experiments and demos on the ACP Lab YouTube channel.

Watch on YouTube

ES-HPC-MPC has been accepted to RA-L!

DQ-NMPC has been accepted to RA-L!

HPA-MPC has been accepted to RA-L!

Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots Has Been Accepted by T-RO!

ACP Lab

Just opened!

Meet Our Team

A talented group of researchers dedicated to scientific excellence.

Recent News

1 paper accepted by RA-L!

Our work on Vision-Based Tactile Model Predictive Control for robotic contour following has been accepted by by RA-L!!

May 13, 2026 1 min read

1 paper accepted by RA-L!

1 paper accepted by ICRA!

Our work on Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions has been accepted by ICRA!

Feb 3, 2026 1 min read

1 paper accepted by ICRA!

1 paper accepted by RA-L!

Our work on Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation for cable-suspended payload has been accepted by RA-L!

Feb 1, 2026 1 min read

1 paper accepted by RA-L!

Featured Publications

VBT-MPC: Vision-Based Tactile MPC for Contour Following

IEEE Robotics and Automation Letters (RA-L), 2026

Edison P. Velasco-Sanchez, Luis F. Recalde, Guanrui Li, Pablo Gil

Aerial Physical Intelligence

VBT-MPC: Vision-Based Tactile MPC for Contour Following

Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions

International Conference on Robotics and Automation (ICRA), 2026

Akshay Jaitly, Jon Arrizabalaga, Guanrui Li

Agility, Intelligence and Safety

Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions

ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads

IEEE Robotics and Automation Letters (RA-L), 2025

Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno, Guanrui Li

Agility, Intelligence and Safety, Aerial Physical Intelligence

ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads

PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation

IEEE Robotics and Automation Letters

Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno

Oct 17, 2025 Agility, Intelligence and Safety, Aerial Physical Intelligence

PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation

DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight

IEEE Robotics and Automation Letters (RA-L), 2025

Luis F. Recalde, Dhruv Agrawal, Jon Arrizabalaga, Guanrui Li

Agility, Intelligence and Safety

DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight

Our Sponsors

We gratefully acknowledge the support of our sponsors.