Time-Optimal Planning for Quadrotor Waypoint Flight

1 code implementation • 10 Aug 2021 • Philipp Foehn, Angel Romero, Davide Scaramuzza

However, this time allocation is a priori unknown and renders previous works incapable of producing truly time-optimal trajectories.

Data-Driven MPC for Quadrotors

1 code implementation • 10 Feb 2021 • Guillem Torrente, Elia Kaufmann, Philipp Foehn, Davide Scaramuzza

Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging.

Gaussian Processes Robotics

AlphaPilot: Autonomous Drone Racing

no code implementations • 26 May 2020 • Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza

This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning.

Navigate Trajectory Planning

Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO

1 code implementation • 30 Mar 2020 • Balazs Nagy, Philipp Foehn, Davide Scaramuzza

While most steps of a VIO pipeline work on visual features, they rely on image data for detection and tracking, of which both steps are well suited for parallelization.

feature selection Vocal Bursts Intensity Prediction