202 citations · 732 across the 72 of their papers we have counts for
77 papers
HyperDrone: Simulation-to-Reality Transfer at Millions of Frames per Second
Jonas Eschmann, Giuseppe Loianno
We present HyperDrone, an extremely fast quadrotor simulator focused on high-performance batch rendering that is more than 20x faster than existing state-of-the-art batch quadrotor…
M3GD: Multi-Modal Multi-View Geometric Diffusion for Camera--LiDAR Novel View Synthesis
Yang Zhou, Jiuhong Xiao, Shizhao Ye +3
Robotic novel view synthesis (NVS) must recover both visual appearance and metric 3D structure, yet most generative NVS methods rely only on images, overlooking LiDAR, a complement…
World-Action Models for Robot Learning and Control: A Survey
Zuxing Lu, Hongjia Zhai, Guanzhi Wang +13
Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to act…
Continual Field-Adaptive Models (CFAMs) for Post-Deployment Physical AI
Amarjot Singh, Tanmay R. Pancholi, Jainam Kothari +7
Unattended interactive autonomy - machines that step into danger in place of humans and complete tasks with human tools - remains a missing capability in mission-critical operation…
Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems
Nishanth Bobbili, Pratyaksh Rao, Luca Morando +2
Planning and control of fixed-wing Unmanned Aerial Vehicles (UAVs) are challenging due to nonlinear dynamics, aerodynamic limits, and environmental disturbances. Differential flatn…
Minimum Time Dubins Airplane Paths with Asymmetric Climb Rates
Jaeyoung Lim, Giuseppe Loianno
Dubins airplane paths approximate the limited maneuverability of fixed-wing vehicles with minimum curvature and climb rate constraints. However, the symmetric climb rate constraint…
SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors
Pratyaksh Rao, Wancong Zhang, Randall Balestriero +2
Accurate dynamics models are critical for informed decision-making in robotic systems, particularly for agile aerial vehicles operating under uncertainty. Neural network dynamics m…
Safe and Generalizable Hierarchical Multi-Agent RL via Constraint Manifold Control
Zihao Guo, Jianing Zhao, Ling Li +3
Multi-agent systems are widely used in safety-critical applications that require coordinated behavior under strict safety constraints. Existing approaches face a fundamental trade-…
HoLoArm: Deformable Arms for Collision-Tolerant Quadrotor Flight
Quang Ngoc Pham, Jonas Eschmann, Yang Zhou +3
The increasing use of drones in human-centric applications highlights the need for designs that can survive collisions and recover rapidly, minimizing risks to both humans and the…
Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments
Lou De Bel-Air, Luca Morando, Ruitao Chen +7
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstru…
Wind-Aware Optimal Trajectory Planning for Efficient Gliding of Fixed-Wing Aerial Systems
Luca Morando, Nishanth Bobbili, Giuseppe Loianno
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. T…
Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning
Manohari Goarin, Yang Zhou, Giuseppe Loianno
The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating safe trajectories is central in many collaborative tasks. Recent Graph Ne…
NeuroMesh: A Unified Neural Inference Framework for Decentralized Multi-Robot Collaboration
Yang Zhou, Yash Shetye, Long Quang +8
Deploying learned multi-robot models on heterogeneous robots remains challenging due to hardware heterogeneity, communication constraints, and the lack of a unified execution stack…
Adaptive Keyframe Selection for Scalable 3D Scene Reconstruction in Dynamic Environments
Raman Jha, Yang Zhou, Giuseppe Loianno
In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modul…
PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems,…
ThermalGen: Style-Disentangled Flow-Based Generative Models for RGB-to-Thermal Image Translation
Jiuhong Xiao, Roshan Nayak, Ning Zhang +2
Paired RGB-thermal data is crucial for visual-thermal sensor fusion and cross-modality tasks, including important applications such as multi-modal image alignment and retrieval. Ho…
HUNT: High-Speed UAV Navigation and Tracking in Unstructured Environments via Instantaneous Relative Frames
Alessandro Saviolo, Jeffrey Mao, Giuseppe Loianno
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capab…
RAPTOR: A Foundation Policy for Quadrotor Control
Jonas Eschmann, Dario Albani, Giuseppe Loianno
Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies train…
Smooth Games of Configuration in the Linear-Quadratic Setting
Jesse Milzman, Jeffrey Mao, Giuseppe Loianno
Dynamic game theory offers a toolbox for formalizing and solving for both cooperative and non-cooperative strategies in multi-agent scenarios. However, the optimal configuration of…
NOVA: Navigation via Object-Centric Visual Autonomy for High-Speed Target Tracking in Unstructured GPS-Denied Environments
Alessandro Saviolo, Giuseppe Loianno
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre…
Query-Based Adaptive Aggregation for Multi-Dataset Joint Training Toward Universal Visual Place Recognition
Jiuhong Xiao, Yang Zhou, Giuseppe Loianno
Deep learning methods for Visual Place Recognition (VPR) have advanced significantly, largely driven by large-scale datasets. However, most existing approaches are trained on a sin…
Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion
Jeffrey Mao, Raghuram Cauligi Srinivas, Steven Nogar +1
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems…
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
Sanket A. Salunkhe, Pranav Nedunghat, Luca Morando +3
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces…
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno +1
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However…