- Mina Kamel, Kostas Alexis, Markus Wilhelm Achtelik, Roland Siegwart, "Fast Nonlinear Model Predictive Control for Multicopter Attitude Tracking on SO(3)", Multiconference on Systems and Control (MSC), 2015, Novotel Sydney Manly Pacific, Sydney Australia. 21-23 September, 2015
- Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes, "Uniform Coverage Structural Inspection Path-Planning for Micro Aerial Vehicles", Multiconference on Systems and Control (MSC), 2015, Novotel Sydney Manly Pacific, Sydney Australia. 21-23 September, 2015
2 MSC 2015 papers
WingTra: a new spin off company!
Visit the website of Wingtra! Wingtra consists of a young team of talented and dedicated individuals that I had the opportunity to work very closely for the last years. I wish them all the best in their exciting endeavour!
Autonomous Structural Inspection
Further results on structural inspection path planning using the most updated version of the algorithm we recently proposed and an open-source implementation can be found at: https://github.com/ethz-asl/StructuralInspectionPlanner .
Our publication K. Alexis, G. Darivianakis, M. Burri, R. Siegwart, "Aerial Robotic Contact-based Inspection: Planning and Control", Autonomous Robots, Springer-Verlag just got accepted. You can find it here: http://dx.doi.org/10.1007/s10514-015-9485-5
3 Papers at ICRA 2015
Robust MPC Journal paper is out
Our paper entitled: K. Alexis, C. Papachristos, R. Siegwart and A. Tzes, "Robust Model Predictive Flight Control of Unmanned Rotorcrafts" has been accepted for publication at the Journal of Intelligent and Robotic Systems.
The ICRA 2015 Trailer Video is out and AtlantikSolar, our solar-powered UAV, is featured in it! Have a look at the video below (translation in 8 languages is available!)
We just recorded this interesting control performance during a propeller failure using an AscTec Firefly multicopter Micro Aerial Vehicle. The work is mostly done by Mina Kamel, one of our outstanding PhDs at the ASL. The proposed fast nonlinear model predictive attitude controller in combination with an optimal outer loop retain position tracking while yaw is left unregulated due to the asymmetries of the hexacopter with one motor failure.
Our paper entitled: C. Papachristos, K. Alexis and A. Tzes, "Dual-Authority Thrust-Vectoring of a Tri-TiltRotor employing Model Predictive Control", has been accepted for publication in Journal of Intelligent and Robotic Systems. It will soon be available online.
Our paper on the field experiences with the AtlantikSolar UAV for mapping applications was accepted at the Field and Service Robotics 2015 conference. The title of the paper is: P. Oettershagen, T. J. Stastny, T. A. Mantel, A. S. Melzer, K. Rudin, G. Agamennoni, K. Alexis and R. Siegwart, "Long-Endurance Sensing and Mapping using a Hand-Launchable Solar-Powered UAV", Field and Service Robotics 2015 (FSR2015), Toronto, June 24-26, 2015
Jointly with this paper we released a relevant dataset which is publicly available here: http://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015
I try to post basic updates here! Before August 2015, all posts appear to have happened the same day. This is due to moving my website.