Publications by Valentin Wüest

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The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, m ...

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

Avian perching maneuvers are one of the most frequent and agile flight sce narios, where highly optimized flight trajectories, produced by rapid wing and tail morphing that generate high angular rates and accelerations, reduce kinetic energy at impact. Whi ...

Flight in dense environments, such as forests and cities requires drones to perform sharp turns. Although fixed-wing drones are aerodynamically and energetically more efficient than multicopters, they require a comparatively larger area to turn and thus ar ...

Fixed-wing drones must navigate to the desired location accurately for maneuvers such as picking up objects and perching. However, current GNSS receivers limit their navigation accuracy to several meters in outdoor environments, making such maneuvers impos ...

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to quantitatively eval ...

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

Avian-inspired drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control strategies accommodatin ...

Valentin Wüest

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Co-Design Optimisation of Morphing Topology and Control of Winged Drones

Training Efficient Controllers via Analytic Policy Gradient

Agile perching maneuvers in birds and morphing-wing drones

Sharp turning maneuvers with avian-inspired wing and tail morphing

Accurate Vision-based Flight with Fixed-Wing Drones

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

Accurate and agile flight with winged drones

Adaptive morphing of wing and tail for stable, resilient, and energy-efficient flight of avian-inspired drones