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CPC: Complementary Progress Constraints for Time-Optimal Quadrotor Trajectories
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in …
Philipp Foehn
,
Davide Scaramuzza
PDF
Video
AlphaPilot: Autonomous Drone Racing
Philipp Foehn
,
Dario Brescianini
,
Elia Kaufmann
,
Titus Cieslewski
,
Mathias Gehrig
,
Manasi Muglikar
,
Davide Scaramuzza
PDF
Video
Pitch
VIMO: Simultaneous Visual Inertial Model-based Odometry and Force Estimation
Barza Nisar
,
Philipp Foehn
,
Davide Falanga
,
Davide Scaramuzza
PDF
Code
Video
Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing
Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state …
Elia Kaufmann
,
Mathias Gehrig
,
Philipp Foehn
,
Rene Ranftl
,
Alexey Dosovitskiy
,
Vladlen Koltun
,
Davide Scaramuzza
PDF
Video
PAMPC: Perception-Aware Model Predictive Control for Quadrotors
We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect …
Davide Falanga
,
Philipp Foehn
,
Peng Lu
,
Davide Scaramuzza
PDF
Code
Video
Onboard State Dependent LQR for Agile Quadrotors
State-of-the-art approaches in quadrotor control split the problem into multiple cascaded subproblems, exploiting the different time …
Philipp Foehn
,
Davide Scaramuzza
PDF
Slides
Video
Pitch
Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload
Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics …
Philipp Foehn
,
Davide Falanga
,
Naveen Kuppuswamy
,
Russ Tedrake
,
Davide Scaramuzza
PDF
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