142 citations · 523 across the 11 of their papers we have counts for
12 papers
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…
Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
Sihao Sun, Antonio Franchi
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best…
Perception-Aware Perching on Powerlines with Multirotors
Julio L. Paneque, Jose Ramiro Martínez de Dios, Aníbal Ollero. Drew Hanover +3
Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection without human intervention, the robots must be able to p…
Nonlinear MPC for Quadrotor Fault-Tolerant Control
Fang Nan, Sihao Sun, Philipp Foehn +1
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the…
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors
Drew Hanover, Philipp Foehn, Sihao Sun +2
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive contr…
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
Sihao Sun, Angel Romero, Philipp Foehn +2
Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynam…