187 citations · 238 across the 4 of their papers we have counts for
4 papers
Towards Robust Optimization-Based Autonomous Dynamic Soaring with a Fixed-Wing UAV
Marvin Harms, Jaeyoung Lim, David Rohr +3
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We p…
Safe Periodic Trochoidal Paths for Fixed-Wing UAVs in Confined Windy Environments
Jaeyoung Lim, David Rohr, Thomas Stastny +1
Due to their energy-efficient flight characteristics, fixed-wing type UAVs are useful robotic tools for long-range and duration flight applications in large-scale environments. How…
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops
Victor Klemm, Alessandro Morra, Lionel Gulich +5
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of…
Attitude- and Cruise Control of a VTOL Tiltwing UAV
David Rohr, Thomas Stastny, Sebastian Verling +1
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV)…