652 citations · 7k across the 163 of their papers we have counts for
13 papers · 1 filter
Distributed Infrastructure Inspection Path Planning subject to Time Constraints
Kostas Alexis, Christos Papachristos, Roland Siegwart +1
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The p…
Collaborative Object Transportation Using MAVs via Passive Force Control
Andrea Tagliabue, Mina Kamel, Sebastian Verling +2
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky obj…
Aerial Picking and Delivery of Magnetic Objects with MAVs
Abel Gawel, Mina Kamel, Tonci Novkovic +5
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially…
Sampling-based Motion Planning for Active Multirotor System Identification
Rik Bähnemann, Michael Burri, Enric Galceran +2
This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems li…
Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles
Mina Kamel, Michael Burri, Roland Siegwart
Precise trajectory tracking is a crucial property for \acp{MAV} to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between tw…
Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning
Helen Oleynikova, Zachary Taylor, Marius Fehr +2
Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored…
Visual Place Recognition with Probabilistic Vertex Voting
Mathias Gehrig, Elena Stumm, Timo Hinzmann +1
We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem for…
Online Informative Path Planning for Active Classification Using UAVs
Marija Popovic, Gregory Hitz, Juan Nieto +3
In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global…
From Perception to Decision: A Data-driven Approach to End-to-end Motion Planning for Autonomous Ground Robots
Mark Pfeiffer, Michael Schaeuble, Juan Nieto +2
Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range fin…
SegMatch: Segment based loop-closure for 3D point clouds
Renaud Dubé, Daniel Dugas, Elena Stumm +3
Loop-closure detection on 3D data is a challenging task that has been commonly approached by adapting image-based solutions. Methods based on local features suffer from ambiguity a…
Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing Aircrafts in Arbitrarily Strong Windfields
Luca Furieri, Thomas Stastny, Lorenzo Marconi +2
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platform…
Online Informative Path Planning for Active Classification on UAVs
Marija Popovic, Gregory Hitz, Juan Nieto +2
We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We mo…
A Primer on the Differential Calculus of 3D Orientations
Michael Bloesch, Hannes Sommer, Tristan Laidlow +8
The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation…