From the 1 of 16 linked papers with an AI index.
16 papers
Temporal Cascading of Planning and Control for Quadrotor MPC
Rudolf Reiter, Chao Qin, Leonard Bauersfeld +1
The paper introduces UNIQUE, a model predictive control framework that temporally cascades planning and control for quadrotors, integrating high‑ and low‑fidelity models within a s…
Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning
Ismail Geles, Leonard Bauersfeld, Markus Wulfmeier +1
Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the domina…
Approximate Imitation Learning for Event-based Quadrotor Flight in Cluttered Environments
Nico Messikommer, Jiaxu Xing, Leonard Bauersfeld +3
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from motion blur. Howe…
Vision-Based Agile Landing on Turbulent Waters
Dimosthenis Angelis, Leonard Bauersfeld, Davide Scaramuzza +1
Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper p…
Image-Conditioned Adaptive Parameter Tuning for Visual Odometry Frontends
Simone Nascivera, Leonard Bauersfeld, Jeff Delaune +1
Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robus…
EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
Jacob Elskamp, Moji Shi, Leonard Bauersfeld +2
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Stan…