Publications

Preprints

  1. Nathan Bucki, Jerry Tang, and Mark W. Mueller: Design and Control of a Midair Reconfigurable Quadcopter using Unactuated Hinges, submitted to T-RO. Video attachment; Code.
  2. Junseok Lee, Xiangyu Wu, Seung Jae Lee, and Mark W. Mueller: Autonomous flight through cluttered outdoor environments using a memoryless planner, submitted to ICUAS 2021. Video attachment.
  3. Jaeseung Byun, Simo A. Mäkiharju, and  Mark W. Mueller: A flow disturbance estimation and rejection strategy for multirotors with round-trip trajectories, submitted to ICUAS 2021. Video attachment.
  4. Karan P. Jain, Minos Park, Mark W. Mueller: Docking two multirotors in midair using relative vision measurements, submitted to ICRA 2021. Video attachment.
  5. Jiaming Zha, Mark W. Mueller: Exploiting collisions for sampling-based multicopter motion planning, submitted to ICRA 2021. Video attachment.

Published

  1. Nathan Bucki, Junseok Lee, and Mark W. Mueller: Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation, IEEE RA-L, 2020. Video attachment; Code.
  2. Karan P. Jain and Mark W. Mueller: Staging energy sources to extend flight time of a multirotor UAV, IROS 2020. Video attachment.
  3. Xiangyu Wu and Mark W. Mueller: In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size, IROS 2020. Video attachment.
  4. Jiaming Zha, Xiangyu Wu, Joseph Kroeger, Natalia Perez and Mark W. Mueller: A collision resilient aerial vehicle with icosahedron tensegrity structure, IROS 2020. Video attachment.
  5. Karan P. Jain and Mark W. Mueller: Flying batteries: In-flight battery switching to increase multirotor flight time, ICRA 2020. Video attachment.
  6. Xiangyu Wu and Mark W. Mueller: Using multiple short hops for multicopter navigation with only inertial sensors, ICRA 2020. Video attachment.
  7. Behnam Ghalamchi, Zheng Jia, and Mark W. Mueller: Real-time vibration-based propeller fault diagnosis for multicopters, IEEE Transactions on Mechatronics. Publisher link.
  8. Weixuan Zhang, Mark W. Mueller, and Raffaello D’Andrea: Design, modeling and control of a flying vehicle with a single moving part that can be positioned anywhere in space, Mechatronics. Publisher link.
  9. Nathan Bucki, and Mark W. Mueller: Rapid Collision Detection for Multicopter Trajectories, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. Video attachment.
  10. Karan P. Jain, Trey Fortmuller, Jaeseung Byun, Simo A. Mäkiharju, and Mark W. Mueller: Modeling of aerodynamic disturbances for proximity flight of multirotors, International Conference on Unmanned Aerial Systems (ICUAS), 2019.
  11. Jiaming Zha, Eric Thacher, Joseph Kroeger, Simo A. Mäkiharju, and Mark W. Mueller: Towards breaching a still water surface with a miniature unmanned aerial underwater vehicle, International Conference on Unmanned Aerial Systems (ICUAS), 2019. Video attachment.
  12. Nathan Bucki, and Mark W. Mueller: A novel multicopter with improved torque disturbance rejection through added angular momentum, International Journal of Intelligent Robotics and Applications, 2019. Video attachment.
  13. Nathan Bucki, and Mark W. Mueller: Design and Control of a Passively Morphing Quadcopter, IEEE International Conference on Robotics and Automation (ICRA), 2019. Video attachment.
  14. Andrea Tagliabue, Xiangyu Wu, and Mark W. Mueller: Model-free Online Motion Adaptation for Optimal Range and Endurance of Multicopters, IEEE International Conference on Robotics and Automation (ICRA), 2019.
  15. Mueller, Mark W. A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios. ASME 2018 Dynamic Systems and Control Conference, pp. V003T36A002-V003T36A002. American Society of Mechanical Engineers, 2018.
  16. Nathan Bucki, and Mark W. Mueller: Improved quadcopter disturbance rejection using added angular momentum, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. Video attachment.
  17. Conrad Holda, Behnam Ghalamchi, and Mark W. Mueller: Tilting multicopter rotors for increased power efficiency and yaw authority, International Conference on Unmanned Aerial Systems (ICUAS), 2018.
  18. Behnam Ghalamchi and Mark W. Mueller: Vibration-Based Propeller Fault Diagnosis for Multicopters, International Conference on Unmanned Aerial Systems (ICUAS), 2018.
  19. Xiangyu Wu and Mark W. Mueller: Towards a consequences-aware emergency landing system for unmanned aerial systems, International Conference on Unmanned Aerial Systems (ICUAS), 2018.
  20. Saman Fahandezh-Saadi, Mark W. Mueller: An algorithm for real-time restructuring of a ranging-based localization network, International Conference on Unmanned Aerial Systems (ICUAS), 2018.
  21. Saman Fahandezh-Saadi, Mark W. Mueller: Optimal measurement selection algorithm and estimator for ultra-wideband symmetric ranging localization, International Conference on Unmanned Aerial Systems (ICUAS), 2018.
  22. Mark W. Mueller, Markus Hehn, Raffaello D’Andrea: Covariance correction step for Kalman filtering with an attitude, Journal of Guidance, Control, and Dynamics Article in advance, Nov. 2016. Publisher link.
  23. Weixuan Zhang, Mark W. Mueller, Raffaello D’Andrea: A controllable flying vehicle with a single moving part, IEEE International Conference on Robotics and Automation (ICRA) 2016. Video.
  24. Mark W. Mueller, Raffaello D’Andrea: Relaxed hover solutions for multicopters: application to algorithmic redundancy and novel vehicles, International Journal of Robotics Research Volume 35, no. 8, pages 873-889 July 2016. Video extension 1; Video extension 2; Publisher link.
  25. Mark W. Mueller, Markus Hehn, Raffaello D’Andrea: A computationally efficient motion primitive for quadrocopter trajectory generation, IEEE Transactions on Robotics, Volume 31, no.8, pages 1294-1310, 2015. Video attachment; Publisher link; Code.
  26. 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 (ICRA) 2015. Errata. Video.
  27. Federico Augugliaro, Sergei Lupashin, Michael Hamer, Cason Male, Markus Hehn, Mark W. Mueller, Jann S. Willmann, Fabio Gramazio, Matthias Kohler, Raffaello D’Andrea : The Flight Assembled Architecture Installation: Cooperative construction with flying machines, IEEE Control Systems Magazine, Volume 34, Issue 4, 2014.
  28. Sergei Lupashin, Markus Hehn, Mark W. Mueller, Angela P. Schoellig, Michael Sherback, Raffaello D’Andrea: A platform for aerial robotics research and demonstration: The Flying Machine Arena, Mechatronics, 2014.
  29. Mark W. Mueller, 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 (ICRA) 2014.
  30. Mark W. Mueller, Markus Hehn, 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 (IROS) 2013. Video.
  31. Mark W. Mueller, Raffaello D’Andrea: A model predictive controller for quadrocopter state interception, European Control Conference (ECC) 2013.
  32. Mark W. Mueller, Leon Liebenberg, Edward H. Mathews, Peter W. Young: Quick estimates for analysis and prediction of the flight mechanics of unmanned aerial vehicles. International Journal of Mechanical Engineering Education, Volume 40, Number 2.
  33. Mark W. Mueller, Raffaello D’Andrea: Critical subsystem failure mitigation in an indoor UAV testbed, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012.
  34. Robin Ritz, Mark W. Mueller, Markus Hehn, Raffaello D’Andrea: Cooperative quadrocopter ball throwing and catching, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012. Video. Appendix.
  35. Mark W. Mueller, Sergei Lupashin, Raffaello D’Andrea: Quadrocopter ball juggling, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2011, pp. 5113-5120. Video. Appendix.