245 citations · 537 across the 7 of their papers we have counts for
12 papers
Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight
Philipp Foehn, Elia Kaufmann, Angel Romero +8
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platfor…
Time-Optimal Planning for Quadrotor Waypoint Flight
Philipp Foehn, Angel Romero, Davide Scaramuzza
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is cr…
Nonlinear MPC for Quadrotor Fault-Tolerant Control
Fang Nan, Sihao Sun, Philipp Foehn +1
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the…
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors
Drew Hanover, Philipp Foehn, Sihao Sun +2
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive contr…
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
Sihao Sun, Angel Romero, Philipp Foehn +2
Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynam…
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight
Angel Romero, Sihao Sun, Philipp Foehn +1
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a gl…
NeuroBEM: Hybrid Aerodynamic Quadrotor Model
Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn +2
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the domina…
CPC: Complementary Progress Constraints for Time-Optimal Quadrotor Trajectories
Philipp Foehn, Davide Scaramuzza
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as…
AlphaPilot: Autonomous Drone Racing
Philipp Foehn, Dario Brescianini, Elia Kaufmann +4
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The syst…
Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO
Balazs Nagy, Philipp Foehn, Davide Scaramuzza
The recent introduction of powerful embedded graphics processing units (GPUs) has allowed for unforeseen improvements in real-time computer vision applications. It has enabled algo…
Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing
Elia Kaufmann, Mathias Gehrig, Philipp Foehn +4
Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings t…
PAMPC: Perception-Aware Model Predictive Control for Quadrotors
Davide Falanga, Philipp Foehn, Peng Lu +1
We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our fram…