Low-latency Perception and Action for Agile Vision-based Flight

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Data-Driven MPC for Quadrotors

Author(s): Guillem Torrente; Elia Kaufmann; Philipp Fohn; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2102.05773

Microgravity induces overconfidence in perceptual decision‑making

Author(s): Leyla Loued‑Khenissi, Christian Pfeiffer, Rupal Saxena, Shivam Adarsh, Davide Scaramuzza
Published in: Nature Scientific Reports, 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-36775-0

A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight

Author(s): Sihao Sun; Angel Romero; Philipp Foehn; Elia Kaufmann; Davide Scaramuzza
Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3177279

AutoTune: Controller Tuning for High-Speed Flight

Author(s): Antonio Loquercio; Alessandro Saviolo; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2103.10698

Champion-level Drone Racing using Deep Reinforcement Learning

Author(s): Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Published in: Nature, 2023, ISSN 0028-0836
Publisher: Nature Publishing Group
DOI: 10.1038/s41586-023-06419-4

E-NeRF: Neural Radiance Fields From a Moving Event Camera

Author(s): Simon Klenk; Lukas Koestler; Davide Scaramuzza; Daniel Cremers
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3240646

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Author(s): Robert Penicka; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2202.03947

Policy Search for Model Predictive Control with Application to Agile Drone Flight

Author(s): Song, Yunlong; Scaramuzza, Davide
Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2112.03850

Range, Endurance, and Optimal Speed Estimates for Multicopters

Author(s): Leonard Bauersfeld; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145063

Reaching the Limit in Autonomous Racing: Optimal Control vs. Reinforcement Learning

Author(s): Yunlong Song, Angel Romero, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Published in: Science Robotics, 2023, ISSN 2470-9476
Publisher: Science
DOI: 10.1126/scirobotics.adg1462

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Author(s): Fang Nan; Sihao Sun; Philipp Foehn; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2109.12886

Perception-Aware Perching on Powerlines with Multirotors

Author(s): Julio L. Paneque; Jose Ramiro Martínez de Dios; Aníbal Ollero; Drew Hanover; Sihao Sun; Ángel Romero; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145514

Continuous-Time Vs. Discrete-Time Vision-Based SLAM: A Comparative Study

Author(s): Giovanni Cioffi; Titus Cieslewski; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3143303

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

Author(s): Drew Hanover; Philipp Foehn; Sihao Sun; Elia Kaufmann; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3131690

Learning Minimum-Time Flight in Cluttered Environments

Author(s): Robert Penicka; Yunlong Song; Elia Kaufmann, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3181755

Time-Optimal Online Replanning for Agile Quadrotor Flight

Author(s): Angel Romero; Robert Penicka; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3185772

Exploring Event Camera-based Odometry for Planetary Robots

Author(s): Florian Mahlknecht; Daniel Gehrig; Jeremy Nash; Friedrich M. Rockenbauer; Benjamin Morrell; Jeff Delaune; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187826

Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight

Author(s): Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, and Davide Scaramuzza
Published in: Science Robotics, 2022, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abl6259

Model Predictive Contouring Control for Time-Optimal Quadrotor Flight

Author(s): Angel Romero; Sihao Sun; Philipp Foehn; Davide Scaramuzza
Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3173711

Visual attention prediction improves performance of autonomous drone racing agents

Author(s): Christian Pfeiffer; Simon Wengeler; Antonio Loquercio; Davide Scaramuzza
Published in: PLOS ONE, Issue 19326203, 2022, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0264471

Learned Inertial Odometry for Autonomous Drone Racing

Author(s): Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 5, May 2023), 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3252342

Cracking double-blind review: Authorship attribution with deep learning

Author(s): Leonard Bauersfeld; Angel Romero; Manasi Muglikar; Davide Scaramuzza
Published in: PLOS ONE, 2023, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0287611

Time-Optimal Planning for Quadrotor Waypoint Flight

Author(s): Philipp Foehn; Angel Romero; Davide Scaramuzza
Published in: Science Robotics, Issue 24709476, 2021, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abh1221

Learning High-Speed Flight in the Wild

Author(s): Antonio Loquercio; Elia Kaufmann; René Ranftl; Matthias Müller; Vladlen Koltun; Davide Scaramuzza
Published in: Science Robotics, Issue 24709476, 2021, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abg5810

Human-Piloted Drone Racing: Visual Processing and Control

Author(s): Christian Pfeiffer; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3064282

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

Author(s): Kaufmann, Elia; Bauersfeld, Leonard; Scaramuzza, Davide
Published in: 2022 International Conference on Robotics and Automation (ICRA), 2022, ISBN 978-1-7281-9681-7
Publisher: IEEE
DOI: 10.48550/arxiv.2202.10796

Weighted Maximum Likelihood for Controller Tuning

Author(s): Angel Romero, Shreedhar Govil, Gonca Yilmaz, Yunlong Song, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Publisher: IEEE

Multi-Bracket High Dynamic Range Imaging with Event Cameras

Author(s): Nico Messikommer; Stamatios Georgoulis; Daniel Gehrig; Stepan Tulyakov; Julius Erbach; Alfredo Bochicchio; Yuanyou Li; Davide Scaramuzza
Published in: 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2022, ISBN 978-1-6654-8739-9
Publisher: IEEE/CVF
DOI: 10.1109/cvprw56347.2022.00070

Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing

Author(s): Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, and Davide Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, 2023., 2023
Publisher: IEEE

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Author(s): Leonard Bauersfeld; Elia Kaufmann; Philipp Foehn; Sihao Sun; Davide Scaramuzza
Published in: Robotics: Science and Systems, 2021
Publisher: Robotics: Science and Systems
DOI: 10.48550/arxiv.2106.08015

Autonomous Power Line Inspection with Drones via Perception-Aware MPC

Author(s): Jiaxu Xing, Giovanni Cioffi, Javier Hidalgo-Carrio, and Davide Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, 2023, 2023
Publisher: IEEE

Autonomous Drone Racing with Deep Reinforcement Learning

Author(s): Song, Yunlong; Steinweg, Mats; Kaufmann, Elia; Scaramuzza, Davide
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3
Publisher: IEEE
DOI: 10.48550/arxiv.2103.08624

Event-aided Direct Sparse Odometry

Author(s): Javier Hidalgo-Carrió; Guillermo Gallego; Davide Scaramuzza
Published in: 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022, ISBN 978-1-6654-6946-3
Publisher: IEEE/CVF
DOI: 10.1109/cvpr52688.2022.00569

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

Author(s): Yunlong Song; HaoChih Lin; Elia Kaufmann; Peter Durr; Davide Scaramuzza
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561049

TimeLens: Event-based Video Frame Interpolation

Author(s): Tulyakov, Stepan; Gehrig, Daniel; Georgoulis, Stamatios; Erbach, Julius; Gehrig, Mathias; Li, Yuanyou; Scaramuzza, Davide
Published in: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021, ISBN 978-1-6654-4509-2
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2106.07286

Data-Driven Feature Tracking for Event Cameras

Author(s): Nico Messikommer; Carter Fang; Mathias Gehrig; Davide Scaramuzza
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, 2023
Publisher: IEEE/CVF
DOI: 10.1109/cvpr52729.2023.00546

ESS: Learning Event-based Semantic Segmentation from Still Images

Author(s): Z. Sun, N. Messikommer, D. Gehrig, D. Scaramuzza
Published in: European Conference on Computer Vision (ECCV), Tel Aviv, 2022., 2022
Publisher: Springer
DOI: 10.1007/978-3-031-19830-4_20

From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detection

Author(s): Zubić, Nikola; Gehrig, Daniel; Gehrig, Mathias; Scaramuzza, Davide
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2023, 2023
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2304.13455

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Author(s): Giovanni Cioffi; Leonard Bauersfeld; Davide Scaramuzza
Published in: Robotics: Science and Systems (RSS), 2023., 2023
Publisher: Robotics: Science and Systems
DOI: 10.15607/rss.2023.xix.071

Recurrent Vision Transformers for Object Detection with Event Cameras

Author(s): Mathias Gehrig; Davide Scaramuzza
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, Issue 15, 2023
Publisher: IEEE/CVF
DOI: 10.1109/cvpr52729.2023.01334

Learning Perception-Aware Agile Flight in Cluttered Environments

Author(s): Y. Song, K. Shi, R. Penicka, D. Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Publisher: IEEE

User-Conditioned Neural Control Policies for Mobile Robotics

Author(s): Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Publisher: IEEE

Learning Agile, Vision-based Drone Flight: from Simulation to Reality

Author(s): Scaramuzza, Davide; Kaufmann, Elia
Published in: The International Symposium of Robotics Research, 2023
Publisher: Springer
DOI: 10.1007/978-3-031-25555-7_2

Event-based Agile Object Catching with a Quadrupedal Robot

Author(s): Benedek Forrai; Takahiro Miki; Daniel Gehrig; Marco Hutter; Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA) 2023, Issue 1, 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161392

Geometry-aware Compensation Scheme for Morphing Drones

Author(s): Amedeo Fabris; Kevin Kleber; Davide Falanga; Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), Xi'an, 2021, Issue 2577087X, 2021, ISSN 2577-087X
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561774

How to Calibrate Your Event Camera

Author(s): Manasi Muglikar; Mathias Gehrig; Daniel Gehrig; Davide Scaramuzza
Published in: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2105.12362

E-RAFT: Dense Optical Flow from Event Cameras

Author(s): Mathias Gehrig; Mario Millhäusler; Daniel Gehrig; Davide Scaramuzza
Published in: 2021 International Conference on 3D Vision (3DV), 2021
Publisher: IEEE
DOI: 10.1109/3dv53792.2021.00030

A 5-Point Minimal Solver for Event Camera Relative Motion Estimation

Author(s): Ling Gao, Hang Su, Daniel Gehrig, Marco Cannici, Davide Scaramuzza, Laurent Kneip
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2023, 2023
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2309.17054

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