652 citations · 7k across the 163 of their papers we have counts for
20 papers · 1 filter
Directional Statistics and Filtering Using libDirectional
Gerhard Kurz, Igor Gilitschenski, Florian Pfaff +4
In this paper, we present libDirectional, a MATLAB library for directional statistics and directional estimation. It supports a variety of commonly used distributions on the unit c…
Towards Fully Environment-Aware UAVs: Real-Time Path Planning with Online 3D Wind Field Prediction in Complex Terrain
Philipp Oettershagen, Florian Achermann, Benjamin Müller +2
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in comple…
Flexible Stereo: Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms
Timo Hinzmann, Tim Taubner, Roland Siegwart
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-w…
Meteorology-Aware Multi-Goal Path Planning for Large-Scale Inspection Missions with Long-Endurance Solar-Powered Aircraft
Philipp Oettershagen, Julian Förster, Lukas Wirth +2
Solar-powered aircraft promise significantly increased flight endurance over conventional aircraft. While this makes them promising candidates for large-scale aerial inspection mis…
maplab: An Open Framework for Research in Visual-inertial Mapping and Localization
Thomas Schneider, Marcin Dymczyk, Marius Fehr +4
Robust and accurate visual-inertial estimation is crucial to many of today's challenges in robotics. Being able to localize against a prior map and obtain accurate and driftfree po…
Robust Collaborative Object Transportation Using Multiple MAVs
Andrea Tagliabue, Mina Kamel, Roland Siegwart +1
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multipl…
Autonomous Electric Race Car Design
Niklas Funk, Nikhilesh Alatur, Robin Deuber +12
Autonomous driving and electric vehicles are nowadays very active research and development areas. In this paper we present the conversion of a standard Kyburz eRod into an autonomo…
3D Registration of Aerial and Ground Robots for Disaster Response: An Evaluation of Features, Descriptors, and Transformation Estimation
Abel Gawel, Renaud Dubé, Hartmut Surmann +3
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior informa…
The ETH-MAV Team in the MBZ International Robotics Challenge
Rik Bähnemann, Michael Pantic, Marija Popović +7
This article describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotic…
C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach
Alexander Millane, Zachary Taylor, Helen Oleynikova +3
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have address…
Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles
Helen Oleynikova, Zachary Taylor, Roland Siegwart +1
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with…
weedNet: Dense Semantic Weed Classification Using Multispectral Images and MAV for Smart Farming
Inkyu Sa, Zetao Chen, Marija Popovic +4
Selective weed treatment is a critical step in autonomous crop management as related to crop health and yield. However, a key challenge is reliable, and accurate weed detection to…
X-View: Graph-Based Semantic Multi-View Localization
Abel Gawel, Carlo Del Don, Roland Siegwart +2
Global registration of multi-view robot data is a challenging task. Appearance-based global localization approaches often fail under drastic view-point changes, as representations…
Visual-inertial self-calibration on informative motion segments
Thomas Schneider, Mingyang Li, Michael Burri +3
Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems. Thus long-term operation o…
Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone
Inkyu Sa, Mina Kamel, Michael Burri +5
This paper describes an approach to building a cost-effective and research grade visual-inertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-t…
Control of a Quadrotor with Reinforcement Learning
Jemin Hwangbo, Inkyu Sa, Roland Siegwart +1
In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can b…
A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects
Rik Bähnemann, Dominik Schindler, Mina Kamel +2
We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple releva…
Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring
Marija Popovic, Teresa Vidal-Calleja, Gregory Hitz +3
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex enviro…
Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance
Mina Kamel, Javier Alonso-Mora, Roland Siegwart +1
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV r…
Dynamic System Identification, and Control for a cost effective open-source VTOL MAV
Inkyu Sa, Mina Kamel, Raghav Khanna +3
This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice…