91 citations · 222 across the 23 of their papers we have counts for
9 papers · 1 filter
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin N. Hartmann +1
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random contr…
Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons
Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire +4
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vi…
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint +1
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinody…
MRNAV: Multi-Robot Aware Planning and Control Stack for Collision and Deadlock-free Navigation in Cluttered Environments
Baskın Şenbaşlar, Pilar Luiz, Wolfgang Hönig +1
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRN…
Kidnapping Deep Learning-based Multirotors using Optimized Flying Adversarial Patches
Pia Hanfeld, Khaled Wahba, Marina M. -C. Höhne +2
Autonomous flying robots, such as multirotors, often rely on deep learning models that make predictions based on a camera image, e.g. for pose estimation. These models can predict…
Flying Adversarial Patches: Manipulating the Behavior of Deep Learning-based Autonomous Multirotors
Pia Hanfeld, Marina M. -C. Höhne, Michael Bussmann +1
Autonomous flying robots, e.g. multirotors, often rely on a neural network that makes predictions based on a camera image. These deep learning (DL) models can compute surprising re…
Efficient Optimization-based Cable Force Allocation for Geometric Control of a Multirotor Team Transporting a Payload
Khaled Wahba, Wolfgang Hönig
We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leadin…
RLSS: Real-time, Decentralized, Cooperative, Networkless Multi-Robot Trajectory Planning using Linear Spatial Separations
Baskın Şenbaşlar, Wolfgang Hönig, Nora Ayanian
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this artic…
Virtual Omnidirectional Perception for Downwash Prediction within a Team of Nano Multirotors Flying in Close Proximity
Akmaral Moldagalieva, Wolfgang Hönig
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases,…