245 citations · 396 across the 3 of their papers we have counts for
11 papers · 1 filter
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…