23 citations · 28 across the 4 of their papers we have counts for
6 papers · 1 filter
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR
Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou +4
Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective an…
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV
Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas +3
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of u…
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing
Dimos Tzoumanikas, Felix Graule, Qingyue Yan +3
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional…
Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight
Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger
Safe and precise reference tracking is a crucial characteristic of MAVs that have to operate under the influence of external disturbances in cluttered environments. In this paper,…
Fast Frontier-based Information-driven Autonomous Exploration with an MAV
Anna Dai, Sotiris Papatheodorou, Nils Funk +2
Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial V…
MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM
Binbin Xu, Wenbin Li, Dimos Tzoumanikas +3
We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environment…