Research
Flight in a 3D wind tunnel for aerodynamic model identification (2015)
Ardea coaxial hexacopter platform developed and used in wind tunnel experiments. Hardware and software were developed from scratch at DLR.
Related publications:
- Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots. International Journal of Robotics Research (IJRR), 2018 (submitted), [arxiv] [PDF]
- Müller, Marcus G and Steidle, Florian and Schuster, Martin J. and Lutz, Philipp and Maier, Moritz and Stoneman, Samantha and Tomić, Teodor and Stürzl, Wolfgang, Robust Visual-Inertial State Estimation with Multiple Odometries and Efficient Mapping on an MAV with Ultra-Wide FOV Stereo Vision. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-5 Oct 2018, Madrid, Spain, pp. 3701--3708. Conference Best Paper Award
- Tomić, Teodor and Schmid, Korbinian and Lutz, Philipp and Mathers, Andrew and Haddadin, Sami, The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9-14 Oct 2016, Deajeon, Korea [ IEEExplore ]
Swarm of nanoquads (2016)
Bachelor's thesis of Adam Trizuljak at DLR, where we built a multi-drone infrastructure and formation algorithms on top of the Crazyflie 2.0 platform. We implemented disturbance observer based attitude and position control, external wrench estimation and collision detection on the flight controller, and used Vicon to obtain the vehicle state. The video provides a very nice overview.
Related publications:
- External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Transactions on Robotics, vol. 33, issue 6, pp. 1467-1482, 05 Oct 2017, IEEE, DOI: 10.1109/TRO.2017.2750703 [ IEEExplore ]
- Tomić, Teodor, Evaluation of Acceleration-Based Disturbance Observation for Multicopter Control. European Control Conference (ECC), pp. 2937-2944, 24-27 Jun 2014, Strasbourg, France [ IEEExplore ]
Collision detection demo at RSS 2014
Related publications:
- External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Transactions on Robotics, vol. 33, issue 6, pp. 1467-1482, 05 Oct 2017, IEEE, DOI: 10.1109/TRO.2017.2750703 [ IEEExplore ]
- Tomić, Teodor and Haddadin, Sami, Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection. IEEE/RSJ International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, WA, USA [ elib | IEEExplore ]
- Tomić, Teodor and Haddadin, Sami, A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4197-4204, 14-18 Sep 2014, Chicago, IL, USA [ IEEExplore ]
Flight in RAG AG coal mine (2013)
Related publications:
- Autonomous Vision Based MAV for Indoor and Outdoor Navigation. Journal of Field Robotics, John Wiley and Sons [ elib | Wiley ]
- Stereo Vision based indoor/outdoor Navigation for Flying Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3955-3962., 3-8 Nov 2013, Tokyo, Japan. RoboCup best paper award [ elib | IEEExplore ]
Indoor-Outdoor Flight using laser and stereo odometry (2012)
Related publications: