51 citations · 118 across the 11 of their papers we have counts for
14 papers
Depth Completion in Unseen Field Robotics Environments Using Extremely Sparse Depth Measurements
Marco Job, Thomas Stastny, Eleni Kelasidi +2
Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have…
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…
Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics
Eugenio Cuniato, Mike Allenspach, Thomas Stastny +3
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos…
Radar Meets Vision: Robustifying Monocular Metric Depth Prediction for Mobile Robotics
Marco Job, Thomas Stastny, Tim Kazik +2
Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent,…
WindSeer: Real-time volumetric wind prediction over complex terrain aboard a small UAV
Florian Achermann, Thomas Stastny, Bogdan Danciu +4
Real-time high-resolution wind predictions are beneficial for various applications including safe manned and unmanned aviation. Current weather models require too much compute and…
Soliro -- a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
Michael Pantic, Elias Hampp, Ramon Flammer +4
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample…
Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data Acquisition
Danylo Malyuta, Christian Brommer, Daniel Hentzen +3
Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, furt…
Disturbance Estimation and Rejection for High-Precision Multirotor Position Control
Daniel Hentzen, Thomas Stastny, Roland Siegwart +1
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts…
On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds
Thomas Stastny, Roland Siegwart
Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter winds rising to levels near or exc…
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)…
L1 guidance logic extension for small UAVs: handling high winds and small loiter radii
Thomas Stastny
L1 guidance logic is one of the most widely used path following controllers for small fixed-wing unmanned aerial vehicles (UAVs), primarily due to its simplicity (low-cost implemen…
Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes
Timo Hinzmann, Thomas Stastny, Cesar Cadena +2
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing fo…
Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics
Thomas Stastny, Roland Siegwart
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control w…
Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing Aircrafts in Arbitrarily Strong Windfields
Luca Furieri, Thomas Stastny, Lorenzo Marconi +2
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platform…