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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 

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A Complete System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments

Dec 10, 2018
Helen Oleynikova, Zachary Taylor, Alexander Millane, Roland Siegwart, Juan Nieto

* Unpublished tech report presenting complete system for mapping and planning on-board micro-aerial vehicles. Will be amended with more results over time, and eventually submitted for journal publication 

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Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Oct 15, 2018
Karen Bodie, Zachary Taylor, Mina Kamel, Roland Siegwart

* 10 pages, 6 figures, ISER 2018 conference submission 

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C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach

Sep 25, 2018
Alexander Millane, Zachary Taylor, Helen Oleynikova, Juan Nieto, Roland Siegwart, César Cadena

* 8 pages, 5 figures, conference 

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Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning

Jul 24, 2018
Helen Oleynikova, Zachary Taylor, Roland Siegwart, Juan Nieto

* Accepted for publication in IEEE IROS 2018 

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Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles

Mar 12, 2018
Helen Oleynikova, Zachary Taylor, Roland Siegwart, Juan Nieto

* Accepted to ICRA 2018 and RA-L 2018 

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Voliro: An Omnidirectional Hexacopter With Tiltable Rotors

Jan 14, 2018
Mina Kamel, Sebastian Verling, Omar Elkhatib, Christian Sprecher, Paula Wulkop, Zachary Taylor, Roland Siegwart, Igor Gilitschenski

* Submitted to Robotics and Automation Magazine 

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Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning

Apr 21, 2017
Helen Oleynikova, Zachary Taylor, Marius Fehr, Juan Nieto, Roland Siegwart

* Submitted to IROS 2017. Videos available at and 

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