3 papers
cs.RO2025
Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
Eckart Cobo-Briesewitz, Khaled Wahba, Wolfgang Hönig
The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model mos…
cs.RO2024
GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System
Christian Henkel, Marc Toussaint, Wolfgang Hönig
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the…
cs.RO2020
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions
Guanya Shi, Wolfgang Hönig, Xichen Shi +2
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation…