Publications

Preprints

  1. J. Tang, R. Zhang, K. Beyduz, Y. Jiang, C. Wiebe, H. Zhang, O. Asoro, and M. W. Mueller: “Duawlfin: A Drone with Unified Actuation for Wheeled Locomotion and Flight Operation” [Arxiv]

Journal papers

  1. D. Zhang, A. Loquercio, J. Tang, T.-H. Wang, J. Malik, and M. W. Mueller: “A Learning-based Quadcopter Controller with Extreme Adaptation” IEEE Transactions on Robotics (2025) [PDF Video, Code, Publisher]
  2. F. Sui, W.  Yue, K. Behrouzi, Y. Gao, M.W. Mueller, and L. Lin. “Untethered subcentimeter flying robots.” Science Advances 11, no. 13 (2025) [Publisher].
  3. C. Bosio and M. W. Mueller: “Automated Layout and Control Co-Design of Robust Multi-UAV Transportation Systems” IEEE Robotics and Automation Letters (RA-L) [PDF, Video, Publisher]
  4. J. Tang, and M.W. Mueller: “PairTilt: Design and Control of an Active Tilt-Rotor Quadcopter for Improved Efficiency and Agility”, Advanced Intelligent Systems (accepted) [Open access link, Video]
  5. J. Zha, T. Yang, and M.W. Mueller: “Agri-fly: simulator for uncrewed aerial vehicle flight in agricultural environments”, IEEE Access (2024) [PDF, Publisher,Code]
  6. J. Zha, X. Wu, R. Dimick, and M. W. Mueller: “Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure”, IEEE/ASME Transactions on Mechatronics (2024) [PDF,Video,Code]
  7. J. Tang, K. P. Jain, and M. W. Mueller: “QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism Capable of Faster, More Agile, and More Efficient Flight”, Frontiers in Robotics and AI, 2022  [PDF, Video]
  8. X. Wu, S. Chen, K. Sreenath, and M. W. Mueller: “Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry”, IEEE Access, Vol 10, pp. 87911-87922, 2022 [PDF, Publisher, Video]
  9. X. Wu, J. Zeng, A. Tagliabue, and M.W. Mueller: “Model-free online motion adaptation for energy efficient flights of multicopters”, IEEE Access, Vol 10, pp. 65507 – 65519, 2022 [PDF, Publisher, Video, Code].
  10. N. L. Bucki, J. Tang, and M. W. Mueller: “Design and Control of a Midair Reconfigurable Quadcopter using Unactuated Hinges”, IEEE Transactions on Robotics, 2022[PDF, Publisher, Video, Code].
  11. M.W. Mueller, S.J. Lee, and R. D’Andrea: “Design and Control of Drones”, Annual Review of Control, Robotics, and Autonomous Systems, Volume 5, 2022 [PDF, Publisher]
  12. M. Tranzatto, F. Mascarich, L. Bernreiter, C. Godinho, M. Camurri, S. Khattak, T. Dang, V. Reijgwart, J. Löje, D. Wisth, S. Zimmermann, H. Nguyen, M. Fehr, L. Solanka, R. Buchanan, M. Bjelonic, N. Khedekar, M. Valceschini, F. Jenelten, M. Dharmadhikari, T. Homberger, P. De Petris, L. Wellhausen, M. Kulkarni, T. Miki, S. Hirsch, M. Montenegro, C. Papachristos, F. Tresoldi, J. Carius, G. Valsecchi, J. Lee, K. Meyer, X. Wu, J. Nieto, A. Smith, M. Hutter, R. Siegwart, M. Mueller, M. Fallon, & K. Alexis. “CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge,” Field Robotics, 2, 274-324, 2022. [Publisher]
  13. R. Gill, M. W. Mueller, and R. D’Andrea, “Full-order solution to the attitude reset problem for Kalman filtering of attitudes,” Journal of Guidance, Control, and Dynamics, vol. 43, no. 7, pp. 1232–1246, 2020 [PDF, Publisher]
  14. N. Bucki, J. Lee, and M. W. Mueller, “Rectangular pyramid partitioning using integrated depth sensors (RAPPIDS): A fast planner for multicopter navigation,” IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4626–4633, 2020 [PDF, Video, Code, Publisher, Presentation]
  15. J. Zeng, P. Kotaru, M. W. Mueller, and K. Sreenath, “Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3074–3081, 2020 [PDF, Video, Publisher]
  16. M. W. Mueller and R. D’Andrea, “Trajectory generation for aerial multicopters,” in Encyclopedia of Systems and Control, J. Baillieul and T. Samad, Eds. London: Springer London, 2019, pp. 1–7 [PDF, Publisher]
  17. B. Ghalamchi, Z. Jia, and M. W. Mueller, “Real-time vibration-based propeller fault diagnosis for multicopters,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 1, pp. 395–405, 2020 [PDF, Publisher]
  18. W. Zhang, M. W. Mueller, and R. D’Andrea, “Design, modeling and control of a flying vehicle with a single moving part that can be positioned anywhere in space,” Mechatronics, vol. 61, pp. 117–130, 2019 [PDF, Publisher]
  19. N. Bucki and M. W. Mueller, “A novel multicopter with improved torque disturbance rejection through added angular momentum,” International Journal of Intelligent Robotics and Applications, vol. 3, no. 2, pp. 131–143, 2019 [PDF, Video]
  20. M. W. Mueller, M. Hehn, and R. D’Andrea, “Covariance correction step for Kalman filtering with an attitude,” Journal of Guidance, Control, and Dynamics, vol. 40, no. 9, pp. 2301–2306, 2016 [PDF, Publisher]
  21. M. W. Mueller and R. D’Andrea, “Relaxed hover solutions for multicopters: Application to algorithmic redundancy and novel vehicles,” International Journal of Robotics Research, vol. 35, no. 8, pp. 873–889, 2015 [PDF, Video 1, Video 2, Publisher]
  22. M. W. Mueller, M. Hehn, and R. D’Andrea, “A computationally efficient motion primitive for quadrocopter trajectory generation,” IEEE Transactions on Robotics, vol. 31, no. 6, pp. 1294–1310, Dec. 2015 [PDF, Video, Publisher, Code]
  23. F. Augugliaro, S. Lupashin, M. Hamer, C. Male, M. Hehn, M. W. Mueller, J. S. Willmann, F. Gramazio, M. Kohler, and R. D’Andrea, “The flight assembled architecture installation: Cooperative construction with flying machines,” Control Systems, IEEE, vol. 34, no. 4, pp. 46–64, 2014 [PDF, Publisher]
  24. S. Lupashin, M. Hehn, M. W. Mueller, A. P. Schoellig, M. Sherback, and R. D’Andrea, “A platform for aerial robotics research and demonstration: The Flying Machine Arena,” Mechatronics, vol. 24, no. 1, pp. 41–54, 2014 [PDF, Publisher]
  25. M. W. Mueller, L. Liebenberg, E. H. Mathews, and P. W. Young, “Quick estimates for analysis and prediction of the flight mechanics of unmanned aerial vehicles,” International Journal of Mechanical Engineering Education, vol. 40, no. 2, pp. 121–145, 2012 [PDF, Publisher]

Conference papers

  1. T. Yang and M. W. Mueller: “AgriNav: UAV Simulator for Vision-based Navigation in Agricultural Environments” in IFAC Conference on Sensing, Control and Automation Technologies for Agriculture (2025) [PDF]
  2. C. Bosio and M. W. Mueller: “Synthesizing Interpretable Control Policies through Large Language Model Guided Search” in American Control Conference (ACC) 2025 [PDF, Code Video]
  3. R. Zhang, D. Zhang, M. W. Mueller: “ProxFly: Robust Control for Close Proximity Quadcopter Flight via Residual Reinforcement Learning” in IEEE International Conference on Robotics and Automation (ICRA), 2025 [PDF, Video, Code]
  4. T. Yang, R. Ibrahimov, and M. W. Mueller: “Towards Safe and Efficient Through-the-Canopy Autonomous Fruit Counting with UAVs” in IEEE International Conference on Robotics and Automation (ICRA), 2025 [PDF, Video]
  5. R. Ibrahimov, T. Yang, and M. W. Mueller: “Kalman Filter-Based Drift Detection and Mitigation of Visual-Inertial Odometry in UAVs” in American Control Conference (ACC), 2025 [PDF]
  6. D. Zhang , A. Loquercio , X. Wu , A. Kumar , J. Malik , M. W. Mueller: “Learning a Single Near-hover Position Controller for Vastly Different Quadcopters,” in IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF, Video]
  7. J. Lee, X. Wu, S. Lee, and M. W. Mueller, “Autonomous flight through cluttered outdoor environments using a memoryless planner,” in International Conference on Unmanned Aerial Systems (ICUAS), 2021 [PDF, Video, Presentation]
  8. J. Byun, S. Makiharju, and M. W. Mueller, “A flow disturbance estimation and rejection strategy for multi- rotors with round-trip trajectories,” in International Conference on Unmanned Aerial Systems (ICUAS), 2021 [PDF, Video, Presentation]
  9. J. Zha and M. W. Mueller, “Exploiting collisions for sampling-based multicopter motion planning,” in IEEE International Conference on Robotics and Automation (ICRA), 2021 [PDF, Video, Presentation]
  10. K. P. Jain, J. Tang, K. Sreenath, and M. W. Mueller, “Staging energy sources to extend flight time of a multirotor uav,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 1132–1139 [PDF, Video, Presentation]
  11. X. Wu and M. W. Mueller, “In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 1545–1550 [PDF, Video, Presentation]
  12. J. Zha, X. Wu, J. Kroeger, N. Perez, and M. W. Mueller, “A collision-resilient aerial vehicle with icosahedron tensegrity structure,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2020, pp. 1407–1412 [PDF, Video, Presentation]
  13. K. P. Jain and M. W. Mueller, “Flying batteries: In-flight battery switching to increase multirotor flight time,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2020, pp. 3510–3516 [PDF, Video, Presentation]
  14. X. Wu and M. W. Mueller, “Using multiple short hops for multicopter navigation with only inertial sensors,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2020, pp. 8559–8565 [PDF, Video, Presentation]
  15. K. L. Poggensee, A. H. Li, D. Sotsaikich, B. Zhang, P. Kotaru, M. Mueller, and K. Sreenath, “Ball juggling on the bipedal robot Cassie,” in 2020 European Control Conference (ECC), IEEE, 2020, pp. 875–880 [PDF]
  16. N. Bucki and M. W. Mueller, “Rapid collision detection for multicopter trajectories,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 [PDF, Video]
  17. G. Zhang, J. Alcala, J. Ng, M. Chen, X. Wu, M. W. Mueller, and Y. Chen, “Embedding consequence awareness in unmanned aerial systems with generative adversarial networks,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2019, pp. 129–134 [PDF]
  18. J. Zha, E. Thacher, J. Kroeger, S. A. Mäkiharju, and M. W. Mueller, “Towards breaching a still water surface with a miniature unmanned aerial underwater vehicle,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2019, pp. 1178–1185 [PDF, Video]
  19. K. P. Jain, T. Fortmuller, J. Byun, S. A. Mäkiharju, and M. W. Mueller, “Modeling of aerodynamic disturbances for proximity flight of multirotors,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2019, pp. 1261–1269 [PDF]
  20. N. Bucki and M. W. Mueller, “Design and control of a passively morphing quadcopter,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2019 [PDF, Video]
  21. A. Tagliabue, X. Wu, and M. W. Mueller, “Model-free online motion adaptation for optimal range and endurance of multicopters,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2019 [PDF]
  22. N. Bucki and M. W. Mueller, “Improved quadcopter disturbance rejection using added angular momentum,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018, pp. 4164–4170 [PDF, Video]
  23. X. Wu and M. W. Mueller, “Towards a consequences-aware emergency landing system for unmanned aerial systems,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2018, pp. 1025–1030 [PDF]
  24. B. Ghalamchi and M. W. Mueller, “Vibration based propeller fault diagnosis for multicopters,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2018, pp. 1041–1047 [PDF]
  25. M. W. Mueller, “A dynamics-agnostic state estimator for unmanned aerial vehicles using ultra-wideband radios,” in ASME Dynamic Systems and Control Conference (DSCC), American Society of Mechanical Engineers, 2018, V003T36A002–V003T36A002 [PDF]
  26. S. Fahandezh-Saadi and M. W. Mueller, “Optimal measurement selection algorithm and estimator for ultra-wideband symmetric ranging localization,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2018, pp. 229–235 [PDF]
  27. S. Fahandezh-Saadi and M. W. Mueller, “An algorithm for real-time restructuring of a ranging-based localization network,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2018, pp. 236–242 [PDF]
  28. C. Holda, B. Ghalamchi, and M. W. Mueller, “Tilting multicopter rotors for increased power efficiency and yaw authority,” in International Conference on Unmanned Aerial Systems (ICUAS), IEEE, 2018, pp. 143–148 [PDF]
  29. W. Zhang, M. W. Mueller, and R. D’Andrea, “A controllable flying vehicle with a single moving part,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2016, pp. 3275–3281 [PDF, Video]
  30. M. W. Mueller, M. Hamer, and R. D’Andrea, “Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015, pp. 1730–1736 [PDF, Errata, Video]
  31. M. W. Mueller and R. D’Andrea, “Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers,” in IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014, pp. 45–52 [PDF]
  32. M. W. Mueller, M. Hehn, and R. D’Andrea, “A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, pp. 3480–3486 [PDF, Video]
  33. M. W. Mueller and R. D’Andrea, “A model predictive controller for quadrocopter state interception,” in European Control Conference (ECC), 2013, pp. 1383–1389 [PDF]
  34. M. W. Mueller and R. D’Andrea, “Critical subsystem failure mitigation in an indoor UAV testbed,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp. 780–785 [PDF]
  35. R. Ritz, M. W. Mueller, M. Hehn, and R. D’Andrea, “Cooperative quadrocopter ball throwing and catching,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2012, pp. 4972–4978 [PDF, Video, Appendix]
  36. M. W. Mueller, S. Lupashin, and R. D’Andrea, “Quadrocopter ball juggling,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, pp. 5113–5120 [PDF, Video, Appendix]

PhD Theses

  1. J. Zha: “Expanding the Operational Environments of UAVs: Design, Control, and Motion Planning for a Tensegrity Aerial Vehicle and an Uncrewed Underwater Aerial Vehicle”, 2023.  [PDF]
  2. K.P. Jain: “Extending Flight Time and Range of eVTOL Aircraft via Modularity and Novel Design”, 2023. [PDF]
  3. X. Wu: “Motion planning of quadcopters for enhanced autonomy in complex environments”, 2022.  [PDF]
  4. N. L. Bucki: “Enhancing Quadcopter Capabilities via Design and Control”, 2021. [PDF]