222 citations · 371 across the 19 of their papers we have counts for
5 papers · 2 filters
SCTOMP: Spatially Constrained Time-Optimal Motion Planning
Jon Arrizabalaga, Markus Ryll
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined spa…
Spatial motion planning with Pythagorean Hodograph curves
Jon Arrizabalaga, Markus Ryll
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequ…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction
Markus Ryll, Robert K. Katzschmann
We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuous…
Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms
Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga +3
Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, a…