142 citations · 418 across the 24 of their papers we have counts for
22 papers · 1 filter
Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning
Ismail Geles, Leonard Bauersfeld, Markus Wulfmeier +1
Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the domina…
Vision-Based Agile Landing on Turbulent Waters
Dimosthenis Angelis, Leonard Bauersfeld, Davide Scaramuzza +1
Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper p…
EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
Jacob Elskamp, Moji Shi, Leonard Bauersfeld +2
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Stan…
Approximate Imitation Learning for Event-based Quadrotor Flight in Cluttered Environments
Nico Messikommer, Jiaxu Xing, Leonard Bauersfeld +3
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from motion blur. Howe…
Temporal Cascading of Planning and Control for Quadrotor MPC
Rudolf Reiter, Chao Qin, Leonard Bauersfeld +1
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning for obstacle avoidance, energy efficiency, or trajectory tracking. High-fidelity mod…
Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipe
Leonard Bauersfeld, Davide Scaramuzza
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advance…
HDVIO2.0: Wind and Disturbance Estimation with Hybrid Dynamics VIO
Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza
Visual-inertial odometry (VIO) is widely used for state estimation in autonomous micro aerial vehicles using onboard sensors. Current methods improve VIO by incorporating a model o…
A Monocular Event-Camera Motion Capture System
Leonard Bauersfeld, Davide Scaramuzza
Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangul…
Drift-free Visual SLAM using Digital Twins
Roxane Merat, Giovanni Cioffi, Leonard Bauersfeld +1
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually im…
Demonstrating Agile Flight from Pixels without State Estimation
Ismail Geles, Leonard Bauersfeld, Angel Romero +2
Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation.…
MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints
Maria Krinner, Angel Romero, Leonard Bauersfeld +3
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerg…
Robotics meets Fluid Dynamics: A Characterization of the Induced Airflow below a Quadrotor as a Turbulent Jet
Leonard Bauersfeld, Koen Muller, Dominic Ziegler +2
The widespread adoption of quadrotors for diverse applications, from agriculture to public safety, necessitates an understanding of the aerodynamic disturbances they create. This p…
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
Jiaxu Xing, Angel Romero, Leonard Bauersfeld +1
Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs an…
Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight
Jiaxu Xing, Leonard Bauersfeld, Yunlong Song +2
Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task i…
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…
HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO
Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza
Visual-inertial odometry (VIO) is the most common approach for estimating the state of autonomous micro aerial vehicles using only onboard sensors. Existing methods improve VIO per…
Autonomous Drone Racing: A Survey
Drew Hanover, Antonio Loquercio, Leonard Bauersfeld +6
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications c…
User-Conditioned Neural Control Policies for Mobile Robotics
Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, onl…
Learned Inertial Odometry for Autonomous Drone Racing
Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann +1
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degr…
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight
Elia Kaufmann, Leonard Bauersfeld, Davide Scaramuzza
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have bee…
Range, Endurance, and Optimal Speed Estimates for Multicopters
Leonard Bauersfeld, Davide Scaramuzza
Multicopters are among the most versatile mobile robots. Their applications range from inspection and mapping tasks to providing vital reconnaissance in disaster zones and to packa…
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…