Publications Peer reviewed articles (25) Data-Driven MPC for Quadrotors Author(s): Guillem Torrente; Elia Kaufmann; Philipp Fohn; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.48550/arxiv.2102.05773 Microgravity induces overconfidence in perceptual decision‑making Author(s): Leyla Loued‑Khenissi, Christian Pfeiffer, Rupal Saxena, Shivam Adarsh, Davide Scaramuzza Published in: Nature Scientific Reports, 2023, ISSN 2045-2322 Publisher: Nature Publishing Group DOI: 10.1038/s41598-023-36775-0 A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight Author(s): Sihao Sun; Angel Romero; Philipp Foehn; Elia Kaufmann; Davide Scaramuzza Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/tro.2022.3177279 AutoTune: Controller Tuning for High-Speed Flight Author(s): Antonio Loquercio; Alessandro Saviolo; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.48550/arxiv.2103.10698 Champion-level Drone Racing using Deep Reinforcement Learning Author(s): Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza Published in: Nature, 2023, ISSN 0028-0836 Publisher: Nature Publishing Group DOI: 10.1038/s41586-023-06419-4 E-NeRF: Neural Radiance Fields From a Moving Event Camera Author(s): Simon Klenk; Lukas Koestler; Davide Scaramuzza; Daniel Cremers Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2023.3240646 Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments Author(s): Robert Penicka; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.48550/arxiv.2202.03947 Policy Search for Model Predictive Control with Application to Agile Drone Flight Author(s): Song, Yunlong; Scaramuzza, Davide Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.48550/arxiv.2112.03850 Range, Endurance, and Optimal Speed Estimates for Multicopters Author(s): Leonard Bauersfeld; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3145063 Reaching the Limit in Autonomous Racing: Optimal Control vs. Reinforcement Learning Author(s): Yunlong Song, Angel Romero, Matthias Müller, Vladlen Koltun, Davide Scaramuzza Published in: Science Robotics, 2023, ISSN 2470-9476 Publisher: Science DOI: 10.1126/scirobotics.adg1462 Nonlinear MPC for Quadrotor Fault-Tolerant Control Author(s): Fang Nan; Sihao Sun; Philipp Foehn; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.48550/arxiv.2109.12886 Perception-Aware Perching on Powerlines with Multirotors Author(s): Julio L. Paneque; Jose Ramiro Martínez de Dios; Aníbal Ollero; Drew Hanover; Sihao Sun; Ángel Romero; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3145514 Continuous-Time Vs. Discrete-Time Vision-Based SLAM: A Comparative Study Author(s): Giovanni Cioffi; Titus Cieslewski; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3143303 Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors Author(s): Drew Hanover; Philipp Foehn; Sihao Sun; Elia Kaufmann; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3131690 Learning Minimum-Time Flight in Cluttered Environments Author(s): Robert Penicka; Yunlong Song; Elia Kaufmann, Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3181755 Time-Optimal Online Replanning for Agile Quadrotor Flight Author(s): Angel Romero; Robert Penicka; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3185772 Exploring Event Camera-based Odometry for Planetary Robots Author(s): Florian Mahlknecht; Daniel Gehrig; Jeremy Nash; Friedrich M. Rockenbauer; Benjamin Morrell; Jeff Delaune; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3187826 Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight Author(s): Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, and Davide Scaramuzza Published in: Science Robotics, 2022, ISSN 2470-9476 Publisher: AAAS DOI: 10.1126/scirobotics.abl6259 Model Predictive Contouring Control for Time-Optimal Quadrotor Flight Author(s): Angel Romero; Sihao Sun; Philipp Foehn; Davide Scaramuzza Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/tro.2022.3173711 Visual attention prediction improves performance of autonomous drone racing agents Author(s): Christian Pfeiffer; Simon Wengeler; Antonio Loquercio; Davide Scaramuzza Published in: PLOS ONE, Issue 19326203, 2022, ISSN 1932-6203 Publisher: Public Library of Science DOI: 10.1371/journal.pone.0264471 Learned Inertial Odometry for Autonomous Drone Racing Author(s): Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 5, May 2023), 2023, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2023.3252342 Cracking double-blind review: Authorship attribution with deep learning Author(s): Leonard Bauersfeld; Angel Romero; Manasi Muglikar; Davide Scaramuzza Published in: PLOS ONE, 2023, ISSN 1932-6203 Publisher: Public Library of Science DOI: 10.1371/journal.pone.0287611 Time-Optimal Planning for Quadrotor Waypoint Flight Author(s): Philipp Foehn; Angel Romero; Davide Scaramuzza Published in: Science Robotics, Issue 24709476, 2021, ISSN 2470-9476 Publisher: AAAS DOI: 10.1126/scirobotics.abh1221 Learning High-Speed Flight in the Wild Author(s): Antonio Loquercio; Elia Kaufmann; René Ranftl; Matthias Müller; Vladlen Koltun; Davide Scaramuzza Published in: Science Robotics, Issue 24709476, 2021, ISSN 2470-9476 Publisher: AAAS DOI: 10.1126/scirobotics.abg5810 Human-Piloted Drone Racing: Visual Processing and Control Author(s): Christian Pfeiffer; Davide Scaramuzza Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3064282 Conference proceedings (27) A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight Author(s): Kaufmann, Elia; Bauersfeld, Leonard; Scaramuzza, Davide Published in: 2022 International Conference on Robotics and Automation (ICRA), 2022, ISBN 978-1-7281-9681-7 Publisher: IEEE DOI: 10.48550/arxiv.2202.10796 Weighted Maximum Likelihood for Controller Tuning Author(s): Angel Romero, Shreedhar Govil, Gonca Yilmaz, Yunlong Song, Davide Scaramuzza Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023 Publisher: IEEE Multi-Bracket High Dynamic Range Imaging with Event Cameras Author(s): Nico Messikommer; Stamatios Georgoulis; Daniel Gehrig; Stepan Tulyakov; Julius Erbach; Alfredo Bochicchio; Yuanyou Li; Davide Scaramuzza Published in: 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2022, ISBN 978-1-6654-8739-9 Publisher: IEEE/CVF DOI: 10.1109/cvprw56347.2022.00070 Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing Author(s): Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, and Davide Scaramuzza Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, 2023., 2023 Publisher: IEEE NeuroBEM: Hybrid Aerodynamic Quadrotor Model Author(s): Leonard Bauersfeld; Elia Kaufmann; Philipp Foehn; Sihao Sun; Davide Scaramuzza Published in: Robotics: Science and Systems, 2021 Publisher: Robotics: Science and Systems DOI: 10.48550/arxiv.2106.08015 Autonomous Power Line Inspection with Drones via Perception-Aware MPC Author(s): Jiaxu Xing, Giovanni Cioffi, Javier Hidalgo-Carrio, and Davide Scaramuzza Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, 2023, 2023 Publisher: IEEE Autonomous Drone Racing with Deep Reinforcement Learning Author(s): Song, Yunlong; Steinweg, Mats; Kaufmann, Elia; Scaramuzza, Davide Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3 Publisher: IEEE DOI: 10.48550/arxiv.2103.08624 Event-aided Direct Sparse Odometry Author(s): Javier Hidalgo-Carrió; Guillermo Gallego; Davide Scaramuzza Published in: 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022, ISBN 978-1-6654-6946-3 Publisher: IEEE/CVF DOI: 10.1109/cvpr52688.2022.00569 Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning Author(s): Yunlong Song; HaoChih Lin; Elia Kaufmann; Peter Durr; Davide Scaramuzza Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8 Publisher: IEEE DOI: 10.1109/icra48506.2021.9561049 TimeLens: Event-based Video Frame Interpolation Author(s): Tulyakov, Stepan; Gehrig, Daniel; Georgoulis, Stamatios; Erbach, Julius; Gehrig, Mathias; Li, Yuanyou; Scaramuzza, Davide Published in: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021, ISBN 978-1-6654-4509-2 Publisher: IEEE/CVF DOI: 10.48550/arxiv.2106.07286 Data-Driven Feature Tracking for Event Cameras Author(s): Nico Messikommer; Carter Fang; Mathias Gehrig; Davide Scaramuzza Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, 2023 Publisher: IEEE/CVF DOI: 10.1109/cvpr52729.2023.00546 Recurrent Vision Transformers for Object Detection with Event Cameras Author(s): Mathias Gehrig, Davide Scaramuzza Published in: IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, 2023, 2023 Publisher: IEEE ESS: Learning Event-based Semantic Segmentation from Still Images Author(s): Z. Sun, N. Messikommer, D. Gehrig, D. Scaramuzza Published in: European Conference on Computer Vision (ECCV), Tel Aviv, 2022., 2022 Publisher: Springer DOI: 10.1007/978-3-031-19830-4_20 Data-driven Feature Tracking for Event Cameras Author(s): Nico Messikommer, Carter Fang, Mathias Gehrig, Davide Scaramuzza Published in: IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, 2023, 2023 Publisher: IEEE From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detection Author(s): Zubić, Nikola; Gehrig, Daniel; Gehrig, Mathias; Scaramuzza, Davide Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2023, 2023 Publisher: IEEE/CVF DOI: 10.48550/arxiv.2304.13455 HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO Author(s): Giovanni Cioffi; Leonard Bauersfeld; Davide Scaramuzza Published in: Robotics: Science and Systems (RSS), 2023., 2023 Publisher: Robotics: Science and Systems DOI: 10.15607/rss.2023.xix.071 Recurrent Vision Transformers for Object Detection with Event Cameras Author(s): Mathias Gehrig; Davide Scaramuzza Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, Issue 15, 2023 Publisher: IEEE/CVF DOI: 10.1109/cvpr52729.2023.01334 Learning Perception-Aware Agile Flight in Cluttered Environments Author(s): Y. Song, K. Shi, R. Penicka, D. Scaramuzza Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023 Publisher: IEEE User-Conditioned Neural Control Policies for Mobile Robotics Author(s): Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023 Publisher: IEEE HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO Author(s): G. Cioffi, L. Bauersfeld, D. Scaramuzza Published in: Robotics: Science and Systems, 2023 Publisher: Robotics: Science and Systems Foundation Learning Agile, Vision-based Drone Flight: from Simulation to Reality Author(s): Scaramuzza, Davide; Kaufmann, Elia Published in: The International Symposium of Robotics Research, 2023 Publisher: Springer DOI: 10.1007/978-3-031-25555-7_2 Event-based Agile Object Catching with a Quadrupedal Robot Author(s): Benedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter, Davide Scaramuzza Published in: IEEE International Conference on Robotics and Automation (ICRA) 2023, London, 2023 Publisher: IEEE Event-based Agile Object Catching with a Quadrupedal Robot Author(s): Benedek Forrai; Takahiro Miki; Daniel Gehrig; Marco Hutter; Davide Scaramuzza Published in: IEEE International Conference on Robotics and Automation (ICRA) 2023, Issue 1, 2023 Publisher: IEEE DOI: 10.1109/icra48891.2023.10161392 Geometry-aware Compensation Scheme for Morphing Drones Author(s): Amedeo Fabris; Kevin Kleber; Davide Falanga; Davide Scaramuzza Published in: IEEE International Conference on Robotics and Automation (ICRA), Xi'an, 2021, Issue 2577087X, 2021, ISSN 2577-087X Publisher: IEEE DOI: 10.1109/icra48506.2021.9561774 How to Calibrate Your Event Camera Author(s): Manasi Muglikar; Mathias Gehrig; Daniel Gehrig; Davide Scaramuzza Published in: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021 Publisher: IEEE/CVF DOI: 10.48550/arxiv.2105.12362 E-RAFT: Dense Optical Flow from Event Cameras Author(s): Mathias Gehrig; Mario Millhäusler; Daniel Gehrig; Davide Scaramuzza Published in: 2021 International Conference on 3D Vision (3DV), 2021 Publisher: IEEE DOI: 10.1109/3dv53792.2021.00030 A 5-Point Minimal Solver for Event Camera Relative Motion Estimation Author(s): Ling Gao, Hang Su, Daniel Gehrig, Marco Cannici, Davide Scaramuzza, Laurent Kneip Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2023, 2023 Publisher: IEEE/CVF DOI: 10.48550/arxiv.2309.17054 Searching for OpenAIRE data... 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