245 citations · 396 across the 3 of their papers we have counts for
6 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…
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…
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…