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Journal Articles
- 2023
[j12]Jerry Tang, Karan P. Jain, Mark W. Mueller
:
Corrigendum: QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism capable of faster, more agile, and more efficient flight. Frontiers Robotics AI 10 (2023)- [j11]Nathan Bucki, Jerry Tang, Mark W. Mueller:
Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges. IEEE Trans. Robotics 39(1): 539-557 (2023) - 2022
- [j10]Xiangyu Wu, Jun Zeng, Andrea Tagliabue, Mark W. Mueller:
Model-Free Online Motion Adaptation for Energy-Efficient Flight of Multicopters. IEEE Access 10: 65507-65519 (2022) - [j9]Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller:
Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry. IEEE Access 10: 87911-87922 (2022) - [j8]Mark W. Mueller, Seung Jae Lee, Raffaello D'Andrea:
Design and Control of Drones. Annu. Rev. Control. Robotics Auton. Syst. 5: 161-177 (2022) - [j7]Jerry Tang, Karan P. Jain, Mark W. Mueller:
QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism capable of faster, more agile, and more efficient flight. Frontiers Robotics AI 9 (2022) - [j6]Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics 2(1): 274-324 (2022) - 2020
- [j5]Jun Zeng, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath:
Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. IEEE Robotics Autom. Lett. 5(2): 3074-3081 (2020) - [j4]Nathan Bucki, Junseok Lee, Mark W. Mueller:
Rectangular Pyramid Partitioning Using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation. IEEE Robotics Autom. Lett. 5(3): 4626-4633 (2020) - 2019
- [j3]Nathan Bucki, Mark W. Mueller:
A novel multicopter with improved torque disturbance rejection through added angular momentum. Int. J. Intell. Robotics Appl. 3(2): 131-143 (2019) - 2016
- [j2]Mark W. Müller, Raffaello D'Andrea:
Relaxed hover solutions for multicopters: Application to algorithmic redundancy and novel vehicles. Int. J. Robotics Res. 35(8): 873-889 (2016) - 2015
- [j1]Mark W. Müller, Markus Hehn, Raffaello D'Andrea:
A Computationally Efficient Motion Primitive for Quadrocopter Trajectory Generation. IEEE Trans. Robotics 31(6): 1294-1310 (2015)
Conference and Workshop Papers
- 2023
- [c23]Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath:
Learning Torque Control for Quadrupedal Locomotion. Humanoids 2023: 1-8 - [c22]Dingqi Zhang, Antonio Loquercio, Xiangyu Wu, Ashish Kumar, Jitendra Malik, Mark W. Mueller:
Learning a Single Near-hover Position Controller for Vastly Different Quadcopters. ICRA 2023: 1263-1269 - 2021
- [c21]Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath:
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. ICRA 2021: 3104-3110 - [c20]Jiaming Zha, Mark W. Mueller:
Exploiting collisions for sampling-based multicopter motion planning. ICRA 2021: 7943-7949 - [c19]Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath:
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. IROS 2021: 2275-2281 - 2020
- [c18]Katherine L. Poggensee, Albert H. Li, Daniel Sotsaikich, Bike Zhang, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath:
Ball Juggling on the Bipedal Robot Cassie. ECC 2020: 875-880 - [c17]Karan P. Jain, Mark W. Mueller:
Flying batteries: In-flight battery switching to increase multirotor flight time. ICRA 2020: 3510-3516 - [c16]Xiangyu Wu, Mark W. Mueller:
Using multiple short hops for multicopter navigation with only inertial sensors. ICRA 2020: 8559-8565 - [c15]Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller:
Staging energy sources to extend flight time of a multirotor UAV. IROS 2020: 1132-1139 - [c14]Jiaming Zha, Xiangyu Wu, Joseph Kroeger, Natalia Perez, Mark W. Mueller:
A collision-resilient aerial vehicle with icosahedron tensegrity structure. IROS 2020: 1407-1412 - [c13]Xiangyu Wu, Mark W. Mueller:
In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size. IROS 2020: 1545-1550 - 2019
- [c12]Andrea Tagliabue, Xiangyu Wu, Mark W. Mueller:
Model-free Online Motion Adaptation for Optimal Range and Endurance of Multicopters. ICRA 2019: 5650-5656 - [c11]Nathan Bucki, Mark W. Mueller:
Design and Control of a Passively Morphing Quadcopter. ICRA 2019: 9116-9122 - [c10]Nathan Bucki, Mark W. Mueller:
Rapid Collision Detection for Multicopter Trajectories. IROS 2019: 7234-7239 - 2018
- [c9]Nathan Bucki, Mark W. Mueller:
Improved Quadcopter Disturbance Rejection Using Added Angular Momentum. IROS 2018: 4164-4170 - 2016
- [c8]Weixuan Zhang, Mark W. Müller, Raffaello D'Andrea:
A controllable flying vehicle with a single moving part. ICRA 2016: 3275-3281 - 2015
- [c7]Mark W. Müller, Michael Hamer, Raffaello D'Andrea:
Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation. ICRA 2015: 1730-1736 - 2014
- [c6]Mark W. Müller, Raffaello D'Andrea:
Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers. ICRA 2014: 45-52 - 2013
- [c5]Mark W. Müller, Raffaello D'Andrea:
A model predictive controller for quadrocopter state interception. ECC 2013: 1383-1389 - [c4]Mark W. Müller, Markus Hehn, Raffaello D'Andrea:
A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification. IROS 2013: 3480-3486 - 2012
- [c3]Mark W. Müller, Raffaello D'Andrea:
Critical subsystem failure mitigation in an indoor UAV testbed. IROS 2012: 780-785 - [c2]Robin Ritz, Mark W. Müller, Markus Hehn, Raffaello D'Andrea:
Cooperative quadrocopter ball throwing and catching. IROS 2012: 4972-4978 - 2011
- [c1]Mark W. Müller, Sergei Lupashin, Raffaello D'Andrea:
Quadrocopter ball juggling. IROS 2011: 5113-5120
Informal and Other Publications
- 2023
- [i25]Carlo Bosio, Jerry Tang, Ting-Hao Wang, Mark W. Mueller:
Automated Layout Design and Control of Robust Cooperative Grasped-Load Aerial Transportation Systems. CoRR abs/2310.07649 (2023) - 2022
- [i24]Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. CoRR abs/2201.07067 (2022) - [i23]Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath:
Learning Torque Control for Quadrupedal Locomotion. CoRR abs/2203.05194 (2022) - [i22]Karan P. Jain, Prasanth Kotaru, Massimiliano de Sa, Mark W. Mueller, Koushil Sreenath:
Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments. CoRR abs/2203.08180 (2022) - [i21]Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller:
Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry. CoRR abs/2204.03134 (2022) - [i20]Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis:
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. CoRR abs/2207.04914 (2022) - [i19]Dingqi Zhang, Antonio Loquercio, Xiangyu Wu, Ashish Kumar, Jitendra Malik, Mark W. Mueller:
A Zero-Shot Adaptive Quadcopter Controller. CoRR abs/2209.09232 (2022) - [i18]Jiaming Zha, Xiangyu Wu, Ryan Dimick, Mark W. Mueller:
Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure. CoRR abs/2211.12045 (2022) - 2021
- [i17]Junseok Lee, Xiangyu Wu, Seung Jae Lee, Mark W. Mueller:
Autonomous Flight through Cluttered Outdoor Environments Using a Memoryless Planner. CoRR abs/2103.12156 (2021) - [i16]Nathan Bucki, Jerry Tang, Mark W. Mueller:
Design and Control of a Midair Reconfigurable Quadcopter using Unactuated Hinges. CoRR abs/2103.16632 (2021) - [i15]Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath:
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. CoRR abs/2104.04238 (2021) - [i14]Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath:
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. CoRR abs/2108.03344 (2021) - [i13]Xiangyu Wu, Jun Zeng, Andrea Tagliabue, Mark W. Mueller:
Model-free online motion adaptation for energy efficient flights of multicopters. CoRR abs/2108.03807 (2021) - 2020
- [i12]Nathan Bucki, Junseok Lee, Mark W. Mueller:
Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation. CoRR abs/2003.01245 (2020) - [i11]Xiangyu Wu, Mark W. Mueller:
In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size. CoRR abs/2003.02907 (2020) - [i10]Jaeseung Byun, Simo A. Mäkiharju, Mark W. Mueller:
A flow disturbance estimation and rejection strategy of multirotors with round trip trajectories. CoRR abs/2003.02974 (2020) - [i9]Jiaming Zha, Xiangyu Wu, Joseph Kroeger, Natalia Perez, Mark W. Mueller:
A collision-resilient aerial vehicle with icosahedron tensegrity structure. CoRR abs/2003.03417 (2020) - [i8]Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller:
Staging energy sources to extend flight time of a multirotor UAV. CoRR abs/2003.04290 (2020) - [i7]Jiaming Zha, Mark W. Mueller:
Exploiting collisions for sampling-based multicopter motion planning. CoRR abs/2011.04091 (2020) - [i6]Karan P. Jain, Minos Park, Mark W. Mueller:
Docking two multirotors in midair using relative vision measurements. CoRR abs/2011.05565 (2020) - 2019
- [i5]Nathan Bucki, Mark W. Mueller:
Rapid Collision Detection for Multicopter Trajectories. CoRR abs/1904.04223 (2019) - [i4]Karan P. Jain, Mark W. Mueller:
Flying batteries: In-flight battery switching to increase multirotor flight time. CoRR abs/1909.10091 (2019) - 2018
- [i3]Mark Wilfried Mueller:
Multicopter attitude control for recovery from large disturbances. CoRR abs/1802.09143 (2018) - [i2]Saman Fahandezh-Saadi, Mark W. Mueller:
Optimal measurement selection algorithm and estimator for ultra-wideband symmetric ranging localization. CoRR abs/1804.09773 (2018) - [i1]Saman Fahandezh-Saadi, Mark W. Mueller:
An algorithm for real-time restructuring of a ranging-based localization network. CoRR abs/1804.09833 (2018)
Coauthor Index
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