Agility, Intelligence and Safety

HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
IEEE Robotics and Automation Letters (RA-L), 2024
Agility, Intelligence and Safety, Aerial Physical Intelligence
PDF Cite Project Video
HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Agility, Intelligence and Safety
PDF Cite Video
Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study
Learning Model Predictive Control for Quadrotors
IEEE International Conference on Robotics and Automation (ICRA), 2022, Outstanding Deployed Systems Paper Award Finalist
Agility, Intelligence and Safety
PDF Cite Video
Learning Model Predictive Control for Quadrotors
Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
IEEE Robotics and Automation Letters (RA-L), 2022
Agility, Intelligence and Safety
PDF Cite Video
Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Agility, Intelligence and Safety, Multi-Robot Collaboration
PDF Cite Video
Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
Aggressive Visual Perching with Quadrotors on Inclined Surfaces
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Agility, Intelligence and Safety, Aerial Physical Intelligence
PDF Cite Video
Aggressive Visual Perching with Quadrotors on Inclined Surfaces
PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU
IEEE International Conference on Robotics and Automation (ICRA), 2021
Agility, Intelligence and Safety, Aerial Physical Intelligence
PDF Cite Video
PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU
Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Agility, Intelligence and Safety
PDF Cite Video
Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments
Observability-Aware Trajectories for Geometric and Inertial Self-Calibration
Robotics: Science and Systems: Power On And Go Robots Workshop, 2020
Agility, Intelligence and Safety
PDF Cite
Observability-Aware Trajectories for Geometric and Inertial Self-Calibration