142 citations · 418 across the 24 of their papers we have counts for
5 papers · 1 filter
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…