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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 -
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 -
Unsupervised 3d object discovery and categorization for mobile robots
(2017)Springer Tracts in Advanced Robotics ~ Robotics ResearchConference 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 -
Collaborative 3D Reconstruction Using Heterogeneous UAVs: System and Experiments
(2017)Springer Proceedings in Advanced Robotics ~ 2016 International Symposium on Experimental RoboticsConference Paper -
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 -
3D registration of aerial and ground robots for disaster response: An evaluation of features, descriptors, and transformation estimation
(2017)2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)Conference Paper -
Voxblox: Incremental 3D Euclidean Signed Distance Fields for on-board MAV planning
(2017)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
An online multi-robot SLAM system for 3D LiDARs
(2017)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Onboard real-time dense reconstruction of large-scale environments for UAV
(2017)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper