652 citations · 1.2k across the 8 of their papers we have counts for
8 papers · 1 filter
Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
Mike Allenspach, Karen Bodie, Maximilian Brunner +5
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete…
An Open-Source System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments
Helen Oleynikova, Christian Lanegger, Zachary Taylor +4
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global traj…
Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
Karen Bodie, Zachary Taylor, Mina Kamel +1
Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and h…
Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning
Helen Oleynikova, Zachary Taylor, Roland Siegwart +1
Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for…
Voliro: An Omnidirectional Hexacopter With Tiltable Rotors
Mina Kamel, Sebastian Verling, Omar Elkhatib +5
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the p…
C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach
Alexander Millane, Zachary Taylor, Helen Oleynikova +3
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have address…
Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles
Helen Oleynikova, Zachary Taylor, Roland Siegwart +1
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with…
Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning
Helen Oleynikova, Zachary Taylor, Marius Fehr +2
Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored…