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

Pubblicazioni

Autori: Guillem Torrente; Elia Kaufmann; Philipp Fohn; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arxiv.2102.05773

Microgravity induces overconfidence in perceptual decision‑making

Autori: Leyla Loued‑Khenissi, Christian Pfeiffer, Rupal Saxena, Shivam Adarsh, Davide Scaramuzza
Pubblicato in: Nature Scientific Reports, 2023, ISSN 2045-2322
Editore: 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

Autori: Sihao Sun; Angel Romero; Philipp Foehn; Elia Kaufmann; Davide Scaramuzza
Pubblicato in: IEEE Transactions on Robotics, Numero 15523098, 2022, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3177279

AutoTune: Controller Tuning for High-Speed Flight

Autori: Antonio Loquercio; Alessandro Saviolo; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arxiv.2103.10698

Champion-level Drone Racing using Deep Reinforcement Learning

Autori: Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Pubblicato in: Nature, 2023, ISSN 0028-0836
Editore: Nature Publishing Group
DOI: 10.1038/s41586-023-06419-4

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

Autori: Simon Klenk; Lukas Koestler; Davide Scaramuzza; Daniel Cremers
Pubblicato in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3240646

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Autori: Robert Penicka; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arxiv.2202.03947

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

Autori: Song, Yunlong; Scaramuzza, Davide
Pubblicato in: IEEE Transactions on Robotics, Numero 15523098, 2022, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2112.03850

Range, Endurance, and Optimal Speed Estimates for Multicopters

Autori: Leonard Bauersfeld; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3145063

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

Autori: Yunlong Song, Angel Romero, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Pubblicato in: Science Robotics, 2023, ISSN 2470-9476
Editore: Science
DOI: 10.1126/scirobotics.adg1462

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Autori: Fang Nan; Sihao Sun; Philipp Foehn; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arxiv.2109.12886

Perception-Aware Perching on Powerlines with Multirotors

Autori: Julio L. Paneque; Jose Ramiro Martínez de Dios; Aníbal Ollero; Drew Hanover; Sihao Sun; Ángel Romero; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3145514

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

Autori: Giovanni Cioffi; Titus Cieslewski; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3143303

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

Autori: Drew Hanover; Philipp Foehn; Sihao Sun; Elia Kaufmann; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3131690

Learning Minimum-Time Flight in Cluttered Environments

Autori: Robert Penicka; Yunlong Song; Elia Kaufmann, Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3181755

Time-Optimal Online Replanning for Agile Quadrotor Flight

Autori: Angel Romero; Robert Penicka; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3185772

Exploring Event Camera-based Odometry for Planetary Robots

Autori: Florian Mahlknecht; Daniel Gehrig; Jeremy Nash; Friedrich M. Rockenbauer; Benjamin Morrell; Jeff Delaune; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3187826

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

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

Model Predictive Contouring Control for Time-Optimal Quadrotor Flight

Autori: Angel Romero; Sihao Sun; Philipp Foehn; Davide Scaramuzza
Pubblicato in: IEEE Transactions on Robotics, Numero 15523098, 2022, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3173711

Visual attention prediction improves performance of autonomous drone racing agents

Autori: Christian Pfeiffer; Simon Wengeler; Antonio Loquercio; Davide Scaramuzza
Pubblicato in: PLOS ONE, Numero 19326203, 2022, ISSN 1932-6203
Editore: Public Library of Science
DOI: 10.1371/journal.pone.0264471

Learned Inertial Odometry for Autonomous Drone Racing

Autori: Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters ( Volume: 8, Numero: 5, May 2023), 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3252342

Cracking double-blind review: Authorship attribution with deep learning

Autori: Leonard Bauersfeld; Angel Romero; Manasi Muglikar; Davide Scaramuzza
Pubblicato in: PLOS ONE, 2023, ISSN 1932-6203
Editore: Public Library of Science
DOI: 10.1371/journal.pone.0287611

Time-Optimal Planning for Quadrotor Waypoint Flight

Autori: Philipp Foehn; Angel Romero; Davide Scaramuzza
Pubblicato in: Science Robotics, Numero 24709476, 2021, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.abh1221

Learning High-Speed Flight in the Wild

Autori: Antonio Loquercio; Elia Kaufmann; René Ranftl; Matthias Müller; Vladlen Koltun; Davide Scaramuzza
Pubblicato in: Science Robotics, Numero 24709476, 2021, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.abg5810

Human-Piloted Drone Racing: Visual Processing and Control

Autori: Christian Pfeiffer; Davide Scaramuzza
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3064282

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

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

Weighted Maximum Likelihood for Controller Tuning

Autori: Angel Romero, Shreedhar Govil, Gonca Yilmaz, Yunlong Song, Davide Scaramuzza
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Editore: IEEE

Multi-Bracket High Dynamic Range Imaging with Event Cameras

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

Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing

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

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Autori: Leonard Bauersfeld; Elia Kaufmann; Philipp Foehn; Sihao Sun; Davide Scaramuzza
Pubblicato in: Robotics: Science and Systems, 2021
Editore: Robotics: Science and Systems
DOI: 10.48550/arxiv.2106.08015

Autonomous Power Line Inspection with Drones via Perception-Aware MPC

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

Autonomous Drone Racing with Deep Reinforcement Learning

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

Event-aided Direct Sparse Odometry

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

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

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

TimeLens: Event-based Video Frame Interpolation

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

Data-Driven Feature Tracking for Event Cameras

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

ESS: Learning Event-based Semantic Segmentation from Still Images

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

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

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

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Autori: Giovanni Cioffi; Leonard Bauersfeld; Davide Scaramuzza
Pubblicato in: Robotics: Science and Systems (RSS), 2023., 2023
Editore: Robotics: Science and Systems
DOI: 10.15607/rss.2023.xix.071

Recurrent Vision Transformers for Object Detection with Event Cameras

Autori: Mathias Gehrig; Davide Scaramuzza
Pubblicato in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, Numero 15, 2023
Editore: IEEE/CVF
DOI: 10.1109/cvpr52729.2023.01334

Learning Perception-Aware Agile Flight in Cluttered Environments

Autori: Y. Song, K. Shi, R. Penicka, D. Scaramuzza
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Editore: IEEE

User-Conditioned Neural Control Policies for Mobile Robotics

Autori: Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Editore: IEEE

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

Autori: Scaramuzza, Davide; Kaufmann, Elia
Pubblicato in: The International Symposium of Robotics Research, 2023
Editore: Springer
DOI: 10.1007/978-3-031-25555-7_2

Event-based Agile Object Catching with a Quadrupedal Robot

Autori: Benedek Forrai; Takahiro Miki; Daniel Gehrig; Marco Hutter; Davide Scaramuzza
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA) 2023, Numero 1, 2023
Editore: IEEE
DOI: 10.1109/icra48891.2023.10161392

Geometry-aware Compensation Scheme for Morphing Drones

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

How to Calibrate Your Event Camera

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

E-RAFT: Dense Optical Flow from Event Cameras

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

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

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

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