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Mapping on the Fly: Real-Time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles
(2017)Springer Proceedings in Advanced Robotics ~ Field and Service Robotics: Results of the 11th International ConferenceConference Paper -
Autonomous Electric Race Car Design
(2017)30th International Electric Vehicle Symposium (EVS 30)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 autonomous vehicle that can be operated in challenging environments such as Swiss mountain passes. The overall hardware and software architectures are described in detail with a special emphasis on the sensor requirements for autonomous vehicles operating in partially ...Conference Paper -
Linear vs nonlinear mpc for trajectory tracking applied to rotary wing micro aerial vehicles
(2017)IFAC-PapersOnLine ~ 20th IFAC World Congress. ProceedingsPrecise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared against a more advanced Nonlinear Model Predictive Controller (NMPC) that considers the ...Conference Paper -
Model-based wind estimation for a hovering VTOL tailsitter UAV
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
A direct formulation for camera calibration
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
SegMatch: Segment based place recognition in 3D point clouds
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Unsupervised 3d object discovery and categorization for mobile robots
(2017)Springer Tracts in Advanced Robotics ~ Robotics ResearchConference Paper -
Online informative path planning for active classification using UAVs
(2017)Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects
(2017)Proceedings of 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)Conference Paper -
Model-based transition optimization for a VTOL tailsitter
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper