142 citations · 523 across the 11 of their papers we have counts for
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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…