Explanipedia

Learning Robust Agile Flight Control with Stability Guarantees Open

Lukas Pries, Markus Ryll · 2025

In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and …

PHODCOS: Pythagorean Hodograph-based Differentiable Coordinate System Open

Jon Arrizabalaga, Fausto Vega, Zbyněk Šı́r, Zachary Manchester, Markus Ryll · 2024

This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path function, the moving frame and its angular velocity, are exact --…

A Universal Formulation for Path-Parametric Planning and Control Open

Jon Arrizabalaga, Markus Ryll · 2024

We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from traditional path following to more recent contouring or pro…

Differentiable Collision-Free Parametric Corridors Open

Jon Arrizabalaga, Zachary Manchester, Markus Ryll · 2024

This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple convex sets, the continuous corridors computed by our method…

Dual Quaternion Control of UAVs with Cable-suspended Load Open

Yuxia Yuan, Markus Ryll · 2024

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…

Scene-Graph ViT: End-to-End Open-Vocabulary Visual Relationship Detection Open

Tim Salzmann, Markus Ryll, Alex Bewley, Matthias Minderer · 2024

Visual relationship detection aims to identify objects and their relationships in images. Prior methods approach this task by adding separate relationship modules or decoders to existing object detection architectures. This separation incr…

Geometric Slosh-Free Tracking for Robotic Manipulators Open

Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin , et al. · 2024

This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we pre…

Learning for CasADi: Data-driven Models in Numerical Optimization Open

Tim Salzmann, Jon Arrizabalaga, Joel Andersson, Marco Pavone, Markus Ryll · 2023

While real-world problems are often challenging to analyze analytically, deep learning excels in modeling complex processes from data. Existing optimization frameworks like CasADi facilitate seamless usage of solvers but face challenges wh…

Robots That Can See: Leveraging Human Pose for Trajectory Prediction Open

Tim Salzmann, Hao-Tien Lewis Chiang, Markus Ryll, Dorsa Sadigh, Carolina Parada , et al. · 2023

Anticipating the motion of all humans in dynamic environments such as homes\nand offices is critical to enable safe and effective robot navigation. Such\nspaces remain challenging as humans do not follow strict rules of motion and\nthere a…

Pose-Following with Dual Quaternions Open

Jon Arrizabalaga, Markus Ryll · 2023

This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additiona…

Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms Open

Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, Marco Pavone, Davide Scaramuzza , et al. · 2023

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time ope…

SCTOMP: Spatially Constrained Time-Optimal Motion Planning Open

Jon Arrizabalaga, Markus Ryll · 2022

This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the as…

Spatial motion planning with Pythagorean Hodograph curves Open

Jon Arrizabalaga, Markus Ryll · 2022

This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized fre…

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT Open

Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll , et al. · 2022

This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNAV) and targets first-year graduate students and senior unde…

Towards Time-Optimal Tunnel-Following for Quadrotors Open

Jon Arrizabalaga, Markus Ryll · 2022

Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles…

SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction Open

Markus Ryll, Robert K. Katzschmann · 2022

We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create …

Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms Open

Tim Salzmann, Elia Kaufmann, Marco Pavone, Davide Scaramuzza, Markus Ryll · 2022

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time ope…

Motron: Multimodal Probabilistic Human Motion Forecasting Open

Tim Salzmann, Marco Pavone, Markus Ryll · 2022

Autonomous systems and humans are increasingly sharing the same space. Robots work side by side or even hand in hand with humans to balance each other's limitations. Such cooperative interactions are ever more sophisticated. Thus, the abil…

A caster-wheel-aware MPC-based motion planner for mobile robotics Open

Jon Arrizabalaga, Niels van Duijkeren, Markus Ryll, Ralph Lange · 2021

Differential drive mobile robots often use one or more caster wheels for\nbalance. Caster wheels are appreciated for their ability to turn in any\ndirection almost on the spot, allowing the robot to do the same and thereby\ngreatly simplif…

Towards Time-Optimal Tunnel-Following for Quadrotors Open

Jon Arrizabalaga, Markus Ryll · 2021

Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles…

FAST-Hex—A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation Open

Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi · 2021

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The …

6D interaction control with aerial robots: The flying end-effector paradigm Open

Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli , et al. · 2019

This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches. By exploiting its tilted propeller ac…

Energy-Efficient Trajectory Generation for a Hexarotor with Dual- Tilting Propellers Open

Fabio Morbidi, Davide Bicego, Markus Ryll, Antonio Franchi · 2018

In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously tilted about two orthogonal axes: in this way, its underactuation degree can be easily adapted to the task at hand. For a given tilt profile, th…

A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base Open

Markus Ryll, Davide Bicego, Antonio Franchi · 2018

International audience

Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness Open

Giulia Michieletto, Markus Ryll, Antonio Franchi · 2018

In this paper, we shed light on two fundamental actuation capabilities of multirotors. The first is the degree of coupling between the total force and total moment generated by the propellers. The second is the ability to robustly fly comp…

A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base Open

Markus Ryll, Davide Bicego, Antonio Franchi · 2018

We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effect…

6D physical interaction with a fully actuated aerial robot Open

Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli , et al. · 2017

<p> </p>\n\n<p>This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propelle…

Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor Open

Markus Ryll, Davide Bicego, Antonio Franchi · 2016

Accepted for the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, Oct. 2016

Full-Pose Geometric Tracking Control on SE(3) for Laterally Bounded Fully-Actuated Aerial Vehicles. Open

Antonio Franchi, Ruggero Carli, Davide Bicego, Markus Ryll · 2016

We introduce a control strategy for fully-actuated aerial vehicles to independently track trajectories in position and orientation. The technique is suited for platforms endowed with non-coplanar or vectoring-thrust rotors that change the …

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