351 citations · 352 across the 2 of their papers we have counts for
10 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…
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight
Elia Kaufmann, Leonard Bauersfeld, Davide Scaramuzza
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have bee…
Learning High-Speed Flight in the Wild
Antonio Loquercio, Elia Kaufmann, René Ranftl +3
Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit…
Data-Driven MPC for Quadrotors
Guillem Torrente, Elia Kaufmann, Philipp Foehn +1
Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging. These complex aerodynamic effects become a significant disturbance at high…
Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning
Yunlong Song, HaoChih Lin, Elia Kaufmann +2
Professional race-car drivers can execute extreme overtaking maneuvers. However, existing algorithms for autonomous overtaking either rely on simplified assumptions about the vehic…
Autonomous Drone Racing with Deep Reinforcement Learning
Yunlong Song, Mats Steinweg, Elia Kaufmann +1
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-opt…