The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

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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 ...

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

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 ...

Linear-Quadratic-Gaussian (LQG) control is a fundamental control paradigm that is studied in various fields such as engineering, computer science, economics, and neuroscience. It involves controlling a system with linear dynamics and imperfect observations ...

In the context of SARS-CoV-2 pandemic, mathematical modelling has played a funda-mental role for making forecasts, simulating scenarios and evaluating the impact of pre-ventive political, social and pharmaceutical measures. Optimal control theory represent ...

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

To aid humans in civilian tasks, future drones will have to operate in large cities that abound with difficult flight conditions such as confined spaces, obstacles, and turbulent air. Such drones must cruise efficiently to cover vast distances fast and als ...

Our dataset consists of very high-resolution aerial images (50cm) and a digital elevation model (50cm) that covers approx. 2300 km2 of land above 2000m altitude in the southwestern part of Switzerland. Our land cover labels focus on alpine land cover that ...

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

Adjustable robust minimization problems where the objective or constraints depend in a convex way on the adjustable variables are generally difficult to solve. In this paper, we reformulate the original adjustable robust nonlinear problem with a polyhedral ...

Today, automatic control is integrated into a wide spectrum of real-world systems such as electrical grids and transportation networks. Many of these systems comprise numerous interconnected agents, perform safety-critical operations, or generate large amo ...

We present drozBot: le robot portraitiste, a robotic system that draws artistic portraits of people. The input images for the portrait are taken interactively by the robot itself. We formulate the problem of drawing portraits as a problem of coverage which ...

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

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Accurate and agile flight with winged drones

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Aerodynamic modeling of a delta-wing UAV for model-based navigation

Training Efficient Controllers via Analytic Policy Gradient

Distributionally Robust Linear Quadratic Control

Optimized numerical solutions of SIRDVW multiage model controlling SARS-CoV-2 vaccine roll out: An application to the Italian scenario

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Wing and tail morphing in birds and drones

swissALPS: a Dataset for Imbalanced Land Cover Mapping in Alpine Regions

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Memory of Motion for Initializing Optimization in Robotics

Dual Approach for Two-Stage Robust Nonlinear Optimization

Data-driven and Safe Networked Control with Applications to Microgrids

drozBot: Using Ergodic Control to Draw Portraits

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control