LiftNav: Path Planning via Semantic Lifting in TSDF-Guided Gaussian Splatting
Hannah Schieber, Dominik Frischmann, Victor Schaack, Angela P. Schoellig, and Daniel Roth Abstract and Poster, in the Workshop on Semantics for Reliable Robot Autonomy (SRRA) at the IEEE International Conference on Robotics and Automation (ICRA)
Advancing Reproducibility, Benchmarks, and Education with Remote Sim2real
Spencer Teetaert, Wenda Zhao, Antonio Loquercio, Siqi Zhou, Lukas Brunke, Martin Schuck, Wolfgang Hönig, Jacopo Panerati, and Angela P. Schoellig IEEE Robotics and Automation Magazine
Targeted Hard Sample Synthesis Based on Estimated Pose and Occlusion Error for Improved Object Pose Estimation
Alan Li and Angela P. Schoellig IEEE Robotics and Automation Letters
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation
Keenan Burnett, Angela P. Schoellig, and Timothy D. Barfoot RoboticaIn press
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards
Lukas Brunke, Yanni Zhang, Ralf Römer, Jack Naimer, Nikola Staykov, Siqi Zhou, and Angela P. Schoellig IEEE Robotics and Automation Letters
Safe multi-agent reinforcement learning for behavior-based cooperative navigation
Murad Dawood, Sicong Pan, Nils Dengler, Siqi Zhou, Angela P. Schoellig, and Maren Bennewitz IEEE Robotics and Automation LettersAccepted
Flying through Moving Gates without Full State Estimation
Ralf Römer, Tim Emmert, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)Accepted
ProDapt: Proprioceptive Adaptation using Long-term Memory Diffusion
Federico Pizarro Bejarano, Bryson Jones, Daniel Pastor Moreno, Joseph Bowkett, Paul G. Backes, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)Accepted
Diffusion Predictive Control with Constraints
Ralf Römer, Alexander von Rohr, and Angela P. Schoellig Proc. of the Conference on Learning for Dynamics and Control (L4DC)Accepted
What is the Impact of Releasing Code with Publications? Statistics from the Machine Learning, Robotics, and Control Communities
Siqi Zhou, Lukas Brunke, Allen Tao, Adam W. Hall, Federico Pizarro Bejarano, Jacopo Panerati, and Angela P Schoellig IEEE Control Systems MagazineAccepted
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments
Jingxing Qian, Siqi Zhou, Nicholas Jianrui Ren, Veronica Chatrath, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)Accepted
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
Ziwei Liao, Jun Yang, Jingxing Qian, Angela P. Schoellig, and Steven L. Waslander Proc. of the IEEE International Conference on Robotics and Automation (ICRA)Accepted
Practical Considerations for Discrete-Time Implementations of Continuous-Time Control Barrier Function-Based Safety Filters
Lukas Brunke, Siqi Zhou, Mingxuan Che, and Angela P. Schoellig Proc. of the American Control Conference (ACC)Accepted
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
Siqi Zhou, Sotiris Papatheodorou, Stefan Leutenegger, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)Accepted
AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space
Vivek K. Adajania, Siqi Zhou, Arun Kumar Singh, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)Accepted
Fine-Tuning of Neural Network Approximate MPC without Retraining via Bayesian Optimization
Henrik Hose, Paul Brunzema, Alexander von Rohr, Alexander Gräfe, Angela P. Schoellig, and Sebastian Trimpe Abstract and Poster, in the Workshop on Safe and Robust Robot Learning for Operation in the Real World at the Conference on Robot Learning (CoRL)
Safe Offline Reinforcement Learning using Trajectory-Level Diffusion Models
Ralf Römer, Lukas Brunke, Martin Schuck, and Angela P. Schoellig Abstract and Poster, in the Back to the Future: Robot Learning Going Real Workshop at the IEEE International Conference on Robotics and Automation (ICRA)
Boreas: A Multi-Season Autonomous Driving Dataset
Keenan Burnett, David J. Yoon, Yuchen Wu, Andrew Zou Li, Haowei Zhang, Shichen Lu, Jingxing Qian, Wei-Kang Tseng, Andrew Lambert, Keith Y.K. Leung, Angela P. Schoellig, and Timothy D. Barfoot The International Journal of Robotics Research
Robust Single-Point Pushing with Force Feedback
Adam Heins and Angela P. Schoellig Short Paper in the Embracing Contacts Workshop at the IEEE International Conference on Robotics and Automation (ICRA)
Stochastic modeling of tag installation error for robust on-manifold tag-based visual-inertial localization
Navid Kayhani, Brenda McCabe, and Angela P. Schoellig Proc. of the Canadian Society of Civil Engineering Annual Conference (CSCE)Accepted
2021
Zeus: A system description of the two-time winner of the collegiate SAE autodrive competition
Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky, Quinlan Sykora, Shichen Lu, Yizhou Huang, Angela P. Schoellig, and Timothy D. Barfoot Journal of Field Robotics
Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control
Adam Heins, Michael Jakob, and Angela P. Schoellig Proc. of the Conference on Robots and Vision (CRV)
Optimal Geometry for Ultra-wideband Localization using Bayesian Optimization
Wenda Zhao, Marijan Vukosavljev, and Angela P. Schoellig Proc. of the International Federation of Automatic Control (IFAC) World Congress
A Perception-Aware Flatness-Based Model Predictive Controller for Fast Vision-Based Multirotor Flight
Melissa Greeff, Timothy D. Barfoot, and Angela P. Schoellig Proc. of the International Federation of Automatic Control (IFAC) World Congress
Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs
Bhavit Patel, Timothy D. Barfoot, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)
Active Training Trajectory Generation for Inverse Dynamics Model Learning with Deep Neural Networks
Siqi Zhou and Angela P. Schoellig Proc. of the IEEE Conference on Decision and Control (CDC)
Trajectory Tracking for Quadrotors with Attitude Control on $\mathcalS^2\times \mathcalS^1$
Dave Kooijman, Angela P. Schoellig, and Duarte J. Antunes Proc. of the European Control Conference (ECC)
aUToTrack: A lightweight object detection and tracking system for the SAE AutoDrive Challenge
Keenan Burnett, Sepehr Samavi, Steven Waslander, Timothy D. Barfoot, and Angela P. Schoellig Proc. of the Conference on Computer and Robot Vision (CRV)Best poster presentation award
Learning Probabilistic Models for Safe Predictive Control in Unknown Environments
Christopher D. McKinnon and Angela P. Schoellig Proc. of the European Control Conference (ECC)
Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking
Siqi Zhou, Andriy Sarabakha, Erdal Kayacan, Mohamed K. Helwa, and Angela P. Schoellig Proc. of the European Control Conference (ECC)
Building a Winning Self-Driving Car in Six Months
Keenan Burnett, Andreas Schimpe, Sepehr Samavi, Mona Gridseth, Chengzhi Winston Liu, Qiyang Li, Zachary Kroeze, and Angela P. Schoellig Proc. of the IEEE International Conference on Robotics and Automation (ICRA)
Point Me In The Right Direction: Improving Visual Localization on UAVs with Active Gimballed Camera Pointing
Bhavit Patel, Michael Warren, and Angela P. Schoellig Proc. of the Conference on Computer and Robot Vision (CRV)Best paper award, robot vision
Robust Adaptive Model Predictive Control for High-Accuracy Trajectory Tracking in Changing Conditions
Karime Pereida and Angela P. Schoellig Short Paper and Presentation, in Proc. of the Algorithms and Architectures for Learning in-the-Loop Systems in Autonomous Flight Workshop at IEEE International Conference on Robotics and Automation (ICRA)
Diversity in Robotics: From Diverse Teams to Diverse Impact
Karime Pereida and Melissa Greeff Short Paper and Presentation, in Proc. of the Debates on the Future of Robotics Research Workshop at the IEEE International Conference on Robotics and Automation (ICRA)
Data-Efficient Multi-Robot, Multi-Task Transfer Learning for Trajectory Tracking
Karime Pereida, Mohamed K. Helwa, and Angela P. Schoellig Abstract and Poster, in Proc. of the Resilient Robot Teams Workshop at the IEEE International Conference on Robotics and Automation (ICRA)
Towards Scalable Online Trajectory Generation for Multi-robot Systems
Carlos E. Luis, Marijan Vukosavljev, and Angela P. Schoellig Abstract and Poster, in Proc. of the Resilient Robot Teams Workshop at the IEEE International Conference on Robotics and Automation (ICRA)
Knowledge Transfer Between Robots with Online Learning for Enhancing Robot Performance in Impromptu Trajectory Tracking
Siqi Zhou, Andriy Sarabakha, Erdal Kayacan, Mohamed K. Helwa, and Angela P. Schoellig Abstract and Presentation, in Proc. of the Resilient Robot Teams Workshop at the IEEE International Conference on Robotics and Automation (ICRA)
Level-headed: gimbal-stabilised visual teach & repeat for improved high-speed path-following
Michael Warren, Angela P. Schoellig, and Tim D. Barfoot Proc. of the IEEE International Conference on Robotics and Automation (ICRA)
Pre- and post-blast rock block size analysis using UAV-Lidar based data and discrete fracture network
Filip Medinac, Thomas Bamford, Kamran Esmaeili, and Angela P. Schoellig Proc. of the 2nd International Discrete Fracture Network Engineering (DFNE)
Automated Localization of UAVs in GPS-Denied Indoor Construction Environments Using Fiducial Markers
Mohammad Nahangi, Adam Heins, Brenda McCabe, and Angela P. Schoellig Proc. International Symposium on Automation and Robotics in Construction (ISARC)
Evaluation of UAV system accuracy for automated fragmentation measurement
Thomas Bamford, Kamran Esmaeili, and Angela P. Schoellig Proc. of the 12th International Symposium on Rock Fragmentation by Blasting (FRAGBLAST)
Aerial Rock Fragmentation Analysis in Low-Light Condition Using UAV Technology
Thomas Bamford, Kamran Esmaeili, and Angela P. Schoellig Proc. of Application of Computers and Operations Research in the Mining Industry (APCOM)
Constrained Bayesian Optimization with Particle Swarms for Safe Adaptive Controller Tuning
Rikky R.P.R. Duivenvoorden, Felix Berkenkamp, Nicolas Carion, Andreas Krause, and Angela P. Schoellig Proc. of the IFAC (International Federation of Automatic Control) World Congress
A preliminary study of transfer learning between unicycle robots
Kaizad V. Raimalwala, Bruce A. Francis, and Angela P. Schoellig Proc. of the AAAI Spring Symposium Series
Rock fragmentation analysis using UAV technology
Thomas Bamford, Kamran Esmaeili, and Angela P. Schoellig Professional Magazine Article, Ontario Professional Surveyor (OPS) Magazine, Assn. of Ontario Land Surveyors
Quantifying the value of drone-delivered AEDs in cardiac arrest response
J. J. Boutilier, S. C. Brooks, A. Janmohamed, A. Byers, C. Zhan, J. E. Buick, A. P. Schoellig, L. J. Morrison, S. Cheskes, and T.C.Y. Chan Abstract and Oral Presentation, in American Heart Association (AHA) Resuscitation Science Symposium
Safe automatic controller tuning for quadrotors
Felix Berkenkamp, Andreas Krause, and Angela P. Schoellig Video Submission, Assn. of the Advancement of Artificial Intelligence (AAAI) AI Video Competition
Data-driven interaction for quadrotors based on external forces
Chris McKinnon and Angela P. Schoellig Video Submission, Assn. of the Advancement of Artificial Intelligence (AAAI) AI Video Competition
A Flying Drum Machine
Xingbo Wang, Natasha Dalal, Tristan Laidlow, and Angela P. Schoellig
Safe controller optimization for quadrotors with Gaussian processes
Felix Berkenkamp, Angela P. Schoellig, and Andreas Krause Abstract and Presentation in Proc. of the Second Machine Learning in Planning and Control of Robot Motion Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2014
Application-driven design of aerial communication networks
Torsten Andre, Karin A. Hummel, Angela P. Schoellig, Evsen Yanmaz, Mahdi Asedpour, Christian Bettstetter, Pasquale Grippa, Hermann Hellwagner, Stephan Sand, and Siwei Zhang IEEE Communications MagazineAuthors 1 to 4 contributed equally
An aerial robotics demonstration for controls research at the ETH Flying Machine Arena
Robin Ritz, Mark W. Müller, Federico Augugliaro, Markus Hehn, Sergei Lupashin, Angela P. Schoellig, and Raffaello D'Andrea Swiss Society for Automatic Control Bulletin
Quadrocopter Slalom Learning
Angela P. Schoellig, Fabian L. Mueller, and Raffaello D'Andrea Video Submission, AI and Robotics Multimedia Fair, Conference on Artificial Intelligence (AI), Assn. of the Advancement of Artificial Intelligence (AAAI)
The Flying Machine Arena as of 2010
Sergei Lupashin, Angela P. Schoellig, Markus Hehn, and Raffaello D'Andrea Video Submission, in Proc. of the IEEE International Conference on Robotics and Automation (ICRA)
A platform for dance performances with multiple quadrocopters
Angela P. Schoellig, Federico Augugliaro, and Raffaello D'Andrea Proc. of the Workshop on Robots and Musical Expressions at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Verification of the performance of selected subsystems for the LISA mission (in German)
Peter F. Gath, Dennis Weise, Thomas Heinrich, Angela P. Schoellig, and S. Otte Proc. of the German Aerospace Congress, German Society for Aeronautics and Astronautics (DGLR)
Learning through experience – Optimizing performance by repetition
Angela P. Schoellig and Raffaello D'Andrea Abstract and Poster, in Proc. of the Robotics Challenges for Machine Learning Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)