Research

The Flying Machine Arena (FMA) provided a safe and controlled sandbox environment that enabled the testing and validation of mobile robots. Thanks to its large size, it allowed for the testing of fast-paced motions, be it on the ground or in the air. The Flying Machine Arena offered ideal conditions to test novel concepts due to its high-precision localization system, high-performance radio links, easy-to-use software structure, and safety nets enclosing the space.

The Flying Machine Arena was used in a range of projects carried out at the Institute for Dynamic Systems and Control and other research laboratories. Throughout its years of deployment, the team of Flying Machine Arena researchers explored quadcopter control and state estimation, trajectory generation, increased autonomy, adaptation and learning, high-precision flight maneuvers, aerial construction, and cooperation between multiple vehicles. Furthermore, novel types of flying machines were designed in the Flying Machine Arena from the monospinner, which only has a single moving part, to the omnicoptor, which can create thrusts and torque in any direction. This resulted in a number of publications, which are featured below.

Projects

The lead researcher for each project is in parentheses.

  • Adaptive High-Performance Maneuvers (Sergei Lupashin)
  • Aerial Construction (Federico Augugliaro)
  • Cooperating Flying Vehicles (Robin Ritz)
  • Distributed Flight Array (Raymond Oung)
  • A Flying Ring (Rajan Gill)
  • Increased autonomy (Mark Mueller)
  • Iterative Learning (Angela Schoellig)
  • The Monospinner (Weixuan Zhang)
  • Music in Motion (Federico Augugliaro)
  • An Omni-Directional Aerial Vehicle (Dario Brescianini)
  • Optimality-Based Quadrotor Flight Maneuvers (Markus Hehn)
  • The IDSC Tailsitter (Robin Ritz)
  • Ultra-Wideband Localization (Anton Ledergerber)

Publications

2020

Rajan Gill, Mark W. Mueller, and Raffaello D’Andrea, “A Full-order Solution to the Attitude Reset Problem for Kalman Filtering of Attitudes”, Journal of Guidance, Control, and Dynamics, 2020.
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Bas van der Heijden, Anton Ledergerber, Rajan Gill, and Raffaello D’Andrea, “Iterative Bias Estimation for an Ultra-Wideband Localization System”, IFAC World Congress, 2020.
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Rajan Gill and Raffaello D’Andrea, “An Annular Wing VTOL UAV: Flight Dynamics and Control”, Drones, 2020.
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Dario Brescianini and Raffaello D’Andrea, “Tilt-Prioritized Quadrocopter Attitude Control,” IEEE Transactions on Control Systems Technology, 2020.
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2019

Jianwei Sun and Rajan Gill, “Vehicle Platoon Control with Virtual Path Constraints”, IEEE Conference on Control Technology and Applications, 2019.
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Rajan Gill and Raffaello D’Andrea, “Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications”, Drones, 2019.
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Weixuan Zhang, Mark Mueller and Raffaello D’Andrea, “Design, modeling and control of a flying vehicle with a single medium part that can be positioned anywhere in space”, Mechatronics, 61 pp. 117-130.
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2018

Dario Brescianini and Raffaello D’Andrea, “Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles”, IEEE Transactions on Robotics, 2018.
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Dario Brescianini and Raffaello D’Andrea, “An Omni-Directional Multirotor Vehicle”, Mechatronics, 2018.
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Dario Brescianini and Raffaello D’Andrea, “Tilt-Prioritized Quadrocopter Attitude Control”, IEEE Transactions on Control Systems Technology, 2018.
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Anton Ledergerber and Raffaello D’Andrea, “Calibrating Away Inaccuracies in Ultra Wideband Range Measurements: A Maximum Likelihood Approach”, IEEE Access, 2018.
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Luciano Beffa, Anton Ledergerber and Raffaello D’Andrea, “State Estimate Recovery for Autonomous Quadcopters”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
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2017

Robin Ritz and Raffaello D’Andrea, “A global controller for flying wing tailsitter vehicles”, IEEE International Conference on Robotics and Automation, 2017.
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David Hoeller, Anton Ledergerber, Michael Hamer, and Raffaello D’Andrea, “Augmenting Ultra-Wideband Localization with Computer Vision for Accurate Flight”, IEEE International Conference on Robotics and Automation, 2017.
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Rajan Gill and Raffaello D’Andrea, “Propeller Thrust and Drag in Forward Flight”, IEEE Conference on Control Technology and Applications, 2017.
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Sant Kumar and Rajan Gill, “Path Following for Quadrotors”, IEEE Conference on Control Technology and Applications, 2017.
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Anton Ledergerber and Raffaello D’Andrea, “Ultra-Wideband Range Measurement Model with Gaussian Processes”, IEEE Conference on Control Technology and Applications, 2017.
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2016

Dario Brescianini, and Raffaello D’Andrea, “Design, Modeling and Control of an Omni-Directional Aerial Vehicle”, IEEE International Conference on Robotics and Automation, 2016.
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Matthias Hofer, Michael Muehlebach, and Raffaello D’Andrea, “Application of an Approximate Model Predictive Control Scheme on an Unmanned Aerial Vehicle”, IEEE International Conference on Robotics and Automation, 2016.
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Weixuan Zhang, Mark W. Mueller, and Raffaello D’Andrea, “A controllable flying vehicle with a single moving part”, IEEE International Conference on Robotics and Automation, 2016.
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2015

Mark W. Mueller, Markus Hehn, and Raffaello D’Andrea, “A computationally efficient motion primitive for quadrocopter trajectory generation”, IEEE Transactions on Robotics, 2015.
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Mark W. Mueller and Raffaello D’Andrea, “Relaxed hover solutions for multicopters: application to algorithmic redundancy and novel vehicles”, International Journal of Robotics Research, 2015.
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Robin Ritz and Raffaello D’Andrea, “A Global Strategy for Tailsitter Hover Control”, International Symposium on Robotics Research, 2015.
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Federico Augugliaro, Emanuele Zarfati, Mirjan Ammar, and Raffaello D’Andrea, “Knot-tying with flying machines for aerial construction”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
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Anton Ledergerber, Michael Hamer, and Raffaello D’Andrea, “A Robot Self-Localization System Using One-Way Ultra-Wideband Communication”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
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Maximilian Schulz, Federico Augugliaro, Robin Ritz, and Raffaello D’Andrea, “High-Speed, Steady Flight with a Quadrocopter in a Confined Environment Using a Tether”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
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Markus Hehn and Raffaello D’Andrea, “Real-Time Trajectory Generation for Quadrocopters”, IEEE Transactions on Robotics, Volume 31, Issue 4, 2015, pp. 877-892.
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Mark W. Mueller, Michael Hamer, Raffaello D’Andrea, “Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation”, IEEE International Conference on Robotics and Automation, 2015.
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2014

Markus Hehn and Raffaello D’Andrea, “A frequency domain iterative learning algorithm for high-performance, periodic quadrocopter maneuvers”, Mechatronics, Volume 24, Issue 8, 2014, pp. 954–965.
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Federico Augugliaro, Sergei Lupashin, Michael Hamer, Cason Male, Markus Hehn, Mark W. Mueller, Jan Willmann, Fabio Gramazio, Matthias Kohler, and Raffaello D’Andrea, “The Flight Assembled Architecture Installation: Cooperative construction with flying machines”, IEEE Control Systems Magazine, Volume 34, Issue 4, 2014, pp. 46 – 64
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Robin Ritz, and Raffaello D’Andrea, “An On-Board Learning Scheme for Open-Loop Quadrocopter Maneuvers Using Inertial Sensors and Control Inputs from an External Pilot”, IEEE International Conference on Robotics and Automation, 2014.
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Mark W. Mueller, and Raffaello D’Andrea, “Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers”, IEEE International Conference on Robotics and Automation, 2014, pp. 73-105.
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Sergei Lupashin, Markus Hehn, Mark W. Mueller, Angela P. Schoellig, Michael Sherback, and Raffaello D’Andrea, “A platform for aerial robotics research and demonstration: The Flying Machine Arena”, Mechatronics, Volume 24, Issue 1, 2014, pp. 41–54
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Angela P. Schoellig, Hallie Siegel, Federico Augugliaro, and Raffaello D’Andrea, “So You Think You Can Dance? Rhythmic Flight Performances with Quadrocopters, in Controls and Art”, Springer International Publishing, 2014, pp. 73-105.
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2013

Federico Augugliaro, Angela P. Schoellig, and Raffaello D’Andrea, “Dance of the Flying Machines”, IEEE Robotics and Automation Magazine, pp.96–104, 2013.
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Federico Augugliaro, Ammar Mirjan, Fabio Gramazio, Matthias Kohler, and Raffaello D’Andrea, “Building Tensile Structures with Flying Machines”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3487–3492, 2013.
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Dario Brescianini, Markus Hehn, and Raffaello D’Andrea, “Quadrocopter Pole Acrobatics”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3472–3479, 2013.
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Michael Hamer, Markus Waibel, and Raffaello D’Andrea, “Knowledge Transfer for High-Performance Quadrocopter Maneuvers”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1714–1719, 2013.
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Markus Hehn and Raffaello D’Andrea, “A Frequency Domain Iterative Feed-Forward Learning Scheme for High-Performance Periodic Quadrocopter Maneuvers”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2445–2451, 2013.
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Mark W. Mueller, Markus Hehn, and Raffaello D’Andrea, “A Computationally Efficient Algorithm for State-to-state Quadrocopter Trajectory Generation and Feasibility Verification”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3480–3486, 2013.
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Robin Ritz and Raffaello D’Andrea, “Carrying a Flexible Payload with Multiple Flying Vehicles”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3465–3471, 2013.
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Federico Augugliaro and Raffaello D’Andrea, “Admittance control for physical human-quadrocopter interaction”, European Control Conference, pp.1805–1810, 2013.
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Markus Hehn and Raffaello D’Andrea, “An Iterative Learning Scheme for High Performance, Periodic Quadrocopter Trajectories” European Control Conference, pp.1799–1804, 2013.
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Mark W. Mueller and Raffaello D’Andrea, “A Model Predictive Controller for Quadrocopter State Interception”, European Control Conference, pp.1383–1389, 2013.
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Ammar Mirjan, Fabio Gramazio, Matthias Kohler, Federico Augugliaro, and Raffaello D’Andrea, “Architectural Fabrication of Tensile Structures with Flying Machines”, Green Design, Materials and Manufacturing Processes, CRC Press, pp. 513–518, 2013.
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R. Oung and R. D’Andrea, “The Distributed Flight Array: Design, Implementation, and Analysis of a Modular Vertical Take-​Off and Landing Vehicle”, International Journal of Robotics Research, 2013.
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M. Kriegleder, R. Oung and R. D’Andrea, “Asynchronous implementation of a distributed average consensus algorithm,” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013, pp. 1836-1841.
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2012

Jan Willmann, Federico Augugliaro, Thomas Cadalbert, Raffaello D’Andrea, Fabio Gramazio, and Matthias Kohler, “Aerial Robotic Construction: Towards a New Field of Architectural Research”, International journal of architectural computing, Vol. 10-3, pp.439-460, 2012.
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Federico Augugliaro, Angela P. Schoellig, and Raffaello D’Andrea, “Generation of Collision-free Trajectories for a Quadrocopter Fleet: A Sequential Convex Programming Approach”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1917-1922, 2012.
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Markus Hehn and Raffaello D’Andrea, “Real-Time Trajectory Generation for Interception Maneuvers with Quadrocopters”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4979–4984, 2012.
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Fabian L. Muller, Angela P. Schoellig, and Raffaello D’Andrea, “Iterative Learning of Feed-Forward Corrections for High-Performance Tracking”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3276-3281, 2012.
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Mark W. Muller and Raffaello D’Andrea, “Critical Subsystem Failure Mitigation in an Indoor UAV Testbed”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.780–785, 2012.
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Robin Ritz, Mark W. Muller, Markus Hehn, and Raffaello D’Andrea, “Cooperative Quadrocopter Ball Throwing and Catching”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4972–4978, 2012.
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Angela P. Schoellig, Clemens Wiltsche, and Raffaello D’Andrea, “Feed-Forward Parameter Identification for Precise Periodic Quadrocopter Motions”, American Control Conference (ACC), pp.4313-4318, 2012.
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Markus Hehn, Robin Ritz, and Raffaello D’Andrea, “Performance Benchmarking of Quadrotor Systems Using Time-Optimal Control”, Autonomous Robots, Volume 33, Number 1-2, pp.69–88, 2012.
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Sergei Lupashin and Raffaello D’Andrea, “Adaptive Fast Open-Loop Maneuvers for Quadrocopters”, Autonomous Robots, Volume 33, Number 1-2, pp.89–102, 2012.
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Angela P. Schoellig, Fabian L. Muller, and Raffaello D’Andrea, “Optimization-Based Iterative Learning for Precise Quadrocopter Trajectory Tracking”, Autonomous Robots, Volume 33, Number 1-2, pp.103–127, 2012.
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M. Kriegleder, R. Oung, and R. D’Andrea, “Distributed Altitude and Attitude Estimation from Multiple Distance Measurements”,  Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Algarve, Portugal, pp. 3626-​3632, 8-​11 Oct. 2012.
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R. Oung, M. Picallo, and R. D’Andrea, “A Parameterized Control Methodology for a Modular Flying Vehicle”, Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Algarve, Portugal, pp. 532-​538, 8-​11 Oct. 2012.
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2011

Mark Muller, Sergei Lupashin, and Raffaello D’Andrea, “Quadrocopter Ball Juggling”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5113–5120, 2011.
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Robin Ritz, Markus Hehn, Sergei Lupashin, and Raffaello D’Andrea, “Quadrocopter Performance Benchmarking Using Optimal Control”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5179–5186, 2011.
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Markus Hehn and Raffaello D’Andrea, “Quadrocopter Trajectory Generation and Control”, IFAC World Congress, pp.1485–1491, 2011.
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Stefania Tonetti, Markus Hehn, Sergei Lupashin, and Raffaello D’Andrea, “Distributed Control of Antenna Array with Formation of UAVs”, IFAC World Congress, pp.7848–7853, 2011.
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Sergei Lupashin and Raffaello D’Andrea, “Adaptive Open-Loop Aerobatic Maneuvers for Quadrocopters”, IFAC World Congress, pp.1–14, 2011.
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Angela Schoellig, Markus Hehn, Sergei Lupashin, and Raffaello D’Andrea, “Feasibility of Motion Primitives for Choreographed Quadrocopter Flight”, American Control Conference (ACC), pp.3843–3849, 2011.
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Sergei Lupashin, Angela Schoellig, Markus Hehn, and Raffaello D’Andrea, “The Flying Machine Arena as of 2010. IEEE International Conference on Robotics and Automation”, pp.2970–2971, 2011.
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Markus Hehn and Raffaello D’Andrea, “A Flying Inverted Pendulum”, IEEE International Conference on Robotics and Automation, pp.763–770, 2011.
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R. Oung and R. D’Andrea, “The Distributed Flight Array”, Mechatronics, Volume 21, Issue 6, Sept. 2011, pp. 908-​917.
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2010

Angela Schoellig, Federico Augugliaro, and Raffaello D’Andrea, “A Platform for Dance Performances with Multiple Quadrocopters”, IEEE/RSJ International Conference on Intelligent Robots and Systems – Workshop on Robots and Musical Expressions, pp.1–8, 2010.
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Angela Schoellig, Federico Augugliaro, Sergei Lupashin, and Raffaello D’Andrea, “Synchronizing the Motion of a Quadrocopter to Music”, IEEE International Conference on Robotics and Automation, pp.3355–3360, 2010.
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Sergei Lupashin, Angela Schoellig, Michael Sherback, and Raffaello D’Andrea, “A Simple Learning Strategy for High-Speed Quadrocopter Multi-Flips”, IEEE International Conference on Robotics and Automation, pp.1642–1648, 2010.
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R. Oung, F. Bourgault, M. Donovan, and R. D’Andrea, “The Distributed Flight Array”,  Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Anchorage, United States of America, pp. 601-​607, 3-7 May 2010.
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2009

Guillaume Ducard and Raffaello D’Andrea, “Autonomous Quadrotor Flight Using a Vision System and Accommodating Frames Misalignment”, IEEE International Symposium on Industrial Embedded Systems, pp.261–264, 2009.
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Oliver Purwin and Raffaello D’Andrea, “Performing Aggressive Maneuvers using Iterative Learning Control”, IEEE International Conference on Robotics and Automation, pp.1731–1736, 2009.
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R. Oung, A. Ramezani, and R. D’Andrea. Feasibility of a Distributed Flight Array. In Proceedings of the 48th IEEE Conference on Decision and Control (CDC) held jointly with the 28th Chinese Control Conference (CCC), Shanghai, China, pp. 3038-​3044, 15-​18 Dec. 2009
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2004

Matthew G. Earl and Raffaello D’Andrea, “Real-time Attitude Estimation Techniques Applied to a Four Rotor Helicopter”, IEEE Conference on Decision and Control, pp.3956–3961, 2004.
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Eryk B. Nice, “Design Of a Four Rotor Hovering Vehicle” (Master’s thesis), Cornell University, 2004.
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2003

Sean H. Breheny, Jeremy C . Miller, and Raffaello D’Andrea, “Using Airborne Vehicle-Based Antenna Arrays to Improve Communications with UAV Clusters”, IEEE Conference on Decision and Control, pp.4158–4162, 2003.
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Jeffrey M. Fowler and Raffaello D’Andrea, “A formation flight experiment”, IEEE Control Systems Magazine, vol. 23, no. 5,  pp.35–43, 2003.
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