Publications

Publications

Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, Davide Scaramuzza (2021). Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight. Science Robotics.

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Drew Hanover, Philipp Foehn, Sihao Sun, Elia Kaufmann, Davide Scaramuzza (2021). Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors. RA-L.

PDF Video

Angel Romero, Sihao Sun, Philipp Foehn, Davide Scaramuzza (2021). Model Predictive Contouring Control for Near-Time-Optimal Quadrotor Flight. arXiv.

PDF Video

Fang Nan, Sihao Sun, Philipp Foehn, Davide Scaramuzza (2021). Nonlinear MPC for Quadrotor Fault-Tolerant Control. arXiv.

PDF Video

Sihao Sun, Angel Romero, Philipp Foehn, Elia Kaufmann, Davide Scaramuzza (2021). A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight. arXiv.

PDF Video

Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza (2021). NeuroBEM: Hybrid Aerodynamic Quadrotor Model. RSS.

PDF Code Video

Philipp Foehn, Angel Romero, Davide Scaramuzza (2021). Time-Optimal Planning for Quadrotor Waypoint Flight. Science Robotics.

PDF Code Video

Guillem Torrente, Elia Kaufmann, Philipp Foehn, Davide Scaramuzza (2021). Data-Driven MPC for Quadrotors. RA-L.

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Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza (2020). AlphaPilot: Autonomous Drone Racing. RSS.

PDF Video Pitch

Barza Nisar, Philipp Foehn, Davide Falanga, Davide Scaramuzza (2019). VIMO: Simultaneous Visual Inertial Model-based Odometry and Force Estimation. RSS.

PDF Code Video

Elia Kaufmann, Mathias Gehrig, Philipp Foehn, Rene Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza (2019). Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing. ICRA.

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Davide Falanga, Philipp Foehn, Peng Lu, Davide Scaramuzza (2018). PAMPC: Perception-Aware Model Predictive Control for Quadrotors. IROS.

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Philipp Foehn, Davide Scaramuzza (2018). Onboard State Dependent LQR for Agile Quadrotors. ICRA.

PDF Slides Video Pitch

Philipp Foehn, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, Davide Scaramuzza (2017). Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload. RSS.

PDF Slides Video