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…
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight
Angel Romero, Sihao Sun, Philipp Foehn +1
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a gl…
NeuroBEM: Hybrid Aerodynamic Quadrotor Model
Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn +2
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the domina…
Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events
Sihao Sun, Giovanni Cioffi, Coen de Visser +1
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the…
Fast Fault Detection on a Quadrotor using Onboard Sensors and a Kalman Filter Approach
Bram Strack van Schijndel, Sihao Sun, Coen de Visser
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estima…
Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances
Sihao Sun, Matthias Baert, Bram Adriaan Strack van Schijndel +1
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of…
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor with Complete Loss of Two Opposing Rotors
Sihao Sun, Xuerui Wang, Qiping Chu +1
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with fai…