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Learning dynamics for improving control of overactuated flying systems

Jun 23, 2020
Weixuan Zhang, Maximilian Brunner, Lionel Ott, Mina Kamel, Roland Siegwart, Juan Nieto

* 8 pages, accepted by IEEE Robotics and Automation Letters 

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Precise Robot Localization in Architectural 3D Plans

Jun 09, 2020
Hermann Blum, Julian Stiefel, Cesar Cadena, Roland Siegwart, Abel Gawel


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Learning Camera Miscalibration Detection

May 24, 2020
Andrei Cramariuc, Aleksandar Petrov, Rohit Suri, Mayank Mittal, Roland Siegwart, Cesar Cadena

* ICRA 2020 

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Ascento: A Two-Wheeled Jumping Robot

May 23, 2020
Victor Klemm, Alessandro Morra, Ciro Salzmann, Florian Tschopp, Karen Bodie, Lionel Gulich, Nicola KĂŒng, Dominik Mannhart, Corentin Pfister, Marcus Vierneisel, Florian Weber, Robin Deuber, Roland Siegwart

* 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7515-7521 
* 7 pages, 11 Figures, ICRA 2019 

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LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops

May 23, 2020
Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel, Yvain de Viragh, Roland Siegwart

* IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3745-3752, April 2020 
* 8 pages, 10 figures, RA-L/ICRA 2020 

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Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps

Apr 27, 2020
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, Juan Nieto

* IEEE Robotics and Automation Letters 5.1 (2019): 227-234 
* 8 pages, 9 figures 

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Go Fetch: Mobile Manipulation in Unstructured Environments

Apr 02, 2020
Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart

* Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian F\"orster, Margarita Grinvald, and Florian Tschopp contributed equally to this work 

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Active Interaction Force Control for Omnidirectional Aerial Contact-Based Inspection

Apr 01, 2020
Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick PfÀndler, Ueli Angst, Roland Siegwart, Juan Nieto

* 12 pages, 18 figures. arXiv admin note: text overlap with arXiv:1905.03502 

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OneShot Global Localization: Instant LiDAR-Visual Pose Estimation

Mar 31, 2020
Sebastian Ratz, Marcin Dymczyk, Roland Siegwart, Renaud Dubé

* 6 pages, 8 figures, ICRA 2020, video at https://youtu.be/EHdzBu7pYrc 

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Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight

Mar 20, 2020
Mike Allenspach, Karen Bodie, Maximilian Brunner, Luca Rinsoz, Zachary Taylor, Mina Kamel, Roland Siegwart, Juan Nieto

* 16 pages, 24 figures, 3 page appendix, video available at https://youtu.be/mBi9mOQaZzQ 

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End-to-End Velocity Estimation For Autonomous Racing

Mar 15, 2020
Sirish Srinivasan, Inkyu Sa, Alex Zyner, Victor Reijgwart, Miguel I. Valls, Roland Siegwart

* Submitted to RA-L + IROS 2020 

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Fast and Accurate Mapping for Autonomous Racing

Mar 12, 2020
Leiv Andresen, Adrian Brandemuehl, Alex Hönger, Benson Kuan, Niclas Vödisch, Hermann Blum, Victor Reijgwart, Lukas Bernreiter, Lukas Schaupp, Jen Jen Chung, Mathias BĂŒrki, Martin R. Oswald, Roland Siegwart, Abel Gawel


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MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments

Mar 03, 2020
Lukas Schaupp, Patrick Pfreundschuh, Mathias Buerki, Cesar Cadena, Roland Siegwart, Juan Nieto


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Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning

Feb 25, 2020
Julien Kindle, Fadri Furrer, Tonci Novkovic, Jen Jen Chung, Roland Siegwart, Juan Nieto

* 6 pages, 6 figures, 2 tables, submitted to RA-L/IROS 

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Depth Based Semantic Scene Completion with Position Importance Aware Loss

Jan 30, 2020
Yu Liu, Jie Li, Xia Yuan, Chunxia Zhao, Roland Siegwart, Ian Reid, Cesar Cadena

* ICRA2020 In Conjuction With RAL 

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VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite

Dec 05, 2019
Florian Tschopp, Michael Riner, Marius Fehr, Lukas Bernreiter, Fadri Furrer, Tonci Novkovic, Andreas Pfrunder, Cesar Cadena, Roland Siegwart, Juan Nieto


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A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction

Dec 04, 2019
Abel Gawel, Hermann Blum, Johannes Pankert, Koen KrÀmer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy


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Object Finding in Cluttered Scenes Using Interactive Perception

Nov 18, 2019
Tonci Novkovic, Remi Pautrat, Fadri Furrer, Michel Breyer, Roland Siegwart, Juan Nieto


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Predicting Unobserved Space For Planning via Depth Map Augmentation

Nov 13, 2019
Marius Fehr, Tim Taubner, Yang Liu, Roland Siegwart, Cesar Cadena


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Building an Aerial-Ground Robotics System for Precision Farming

Nov 08, 2019
Alberto Pretto, StĂ©phanie Aravecchia, Wolfram Burgard, Nived Chebrolu, Christian Dornhege, Tillmann Falck, Freya Fleckenstein, Alessandra Fontenla, Marco Imperoli, Raghav Khanna, Frank Liebisch, Philipp Lottes, Andres Milioto, Daniele Nardi, Sandro Nardi, Johannes Pfeifer, Marija Popović, Ciro Potena, CĂ©dric Pradalier, Elisa Rothacker-Feder, Inkyu Sa, Alexander Schaefer, Roland Siegwart, Cyrill Stachniss, Achim Walter, Wera Winterhalter, Xiaolong Wu, Juan Nieto

* Submitted to IEEE Robotics & Automation Magazine 

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SegMap: Segment-based mapping and localization using data-driven descriptors

Sep 27, 2019
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Hannes Sommer, Marcin Dymczyk, Juan Nieto, Roland Siegwart, Cesar Cadena

* arXiv admin note: substantial text overlap with arXiv:1804.09557 

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An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments

Sep 20, 2019
Lukas Schmid, Michael Pantic, Raghav Khanna, Lionel Ott, Roland Siegwart, Juan Nieto

* 8 pages, 9 figures, video: https://youtu.be/lEadqJ1_8Do 

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This is not what I imagined: Error Detection for Semantic Segmentation through Visual Dissimilarity

Sep 02, 2019
David Haldimann, Hermann Blum, Roland Siegwart, Cesar Cadena


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Active Learning for UAV-based Semantic Mapping

Aug 29, 2019
Hermann Blum, Silvan Rohrbach, Marija Popovic, Luca Bartolomei, Roland Siegwart

* presented at RSS'19 "2nd Workshop on Informative Path Planning and Adaptive Sampling" 

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Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping

Aug 23, 2019
Timo Hinzmann, Cesar Cadena, Juan Nieto, Roland Siegwart

* Preprint of a paper presented at the IEEE International Conference on Intelligent Robots and Systems (IROS) 2019 

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Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data Acquisition

Aug 18, 2019
Danylo Malyuta, Christian Brommer, Daniel Hentzen, Thomas Stastny, Roland Siegwart, Roland Brockers

* J Field Robotics (2019) 1-21 
* 38 pages, 28 figures 

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Disturbance Estimation and Rejection for High-Precision Multirotor Position Control

Aug 08, 2019
Daniel Hentzen, Thomas Stastny, Roland Siegwart, Roland Brockers

* 8 pages, IROS 2019 

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