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AlphaPilot: Autonomous Drone Racing
Autonomous Robots (Auton. Robots), 2020
26 May 2020
Philipp Foehn
Dario Brescianini
Elia Kaufmann
Titus Cieslewski
Mathias Gehrig
Manasi Muglikar
Davide Scaramuzza
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Papers citing
"AlphaPilot: Autonomous Drone Racing"
50 / 78 papers shown
SPIRAL: Self-Play Incremental Racing Algorithm for Learning in Multi-Drone Competitions
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Self-Supervised Learning to Fly using Efficient Semantic Segmentation and Metric Depth Estimation for Low-Cost Autonomous UAVs
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Marius Leordeanu
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STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search
Helene J. Levy
Brett T. Lopez
108
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16 Oct 2025
On Your Own: Pro-level Autonomous Drone Racing in Uninstrumented Arenas
Michael Bosello
Flavio Pinzarrone
Sara Kiade
Davide Aguiari
Yvo Keuter
...
Ka Seng Chou
Junaid Halepota
Fares Alneyadi
Jacopo Panerati
Giovanni Pau
AI4TS
121
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0
15 Oct 2025
Improving Drone Racing Performance Through Iterative Learning MPC
Haocheng Zhao
Niklas Schlüter
Lukas Brunke
Angela P. Schoellig
197
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01 Aug 2025
Self-Supervised Monocular Visual Drone Model Identification through Improved Occlusion Handling
Stavrow A. Bahnam
Christophe De Wagter
Guido de Croon
288
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30 Apr 2025
Multi-Robot Coordination with Adversarial Perception
International Conference on Unmanned Aircraft Systems (ICUAS), 2025
Rayan Bahrami
H. Jafarnejadsani
AAML
397
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12 Apr 2025
Dream to Fly: Model-Based Reinforcement Learning for Vision-Based Drone Flight
Angel Romero
Ashwin Shenai
Ismail Geles
Elie Aljalbout
Davide Scaramuzza
424
10
0
24 Jan 2025
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search
Helene J. Levy
Brett T. Lopez
399
5
0
30 Dec 2024
Flying through Moving Gates without Full State Estimation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Ralf Romer
Tim Emmert
Angela P. Schoellig
398
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0
21 Oct 2024
Learning Quadrotor Control From Visual Features Using Differentiable Simulation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Johannes Heeg
Yunlong Song
Davide Scaramuzza
329
18
0
21 Oct 2024
Real-time Planning of Minimum-time Trajectories for Agile UAV Flight
IEEE Robotics and Automation Letters (RA-L), 2024
Krystof Teissing
Matej Novosad
Robert Pěnička
Martin Saska
262
13
0
24 Sep 2024
Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach
Chao Qin
Jingxiang Chen
Yifan Lin
Abhishek Goudar
Angela P. Schoellig
Hugh H. T. Liu
186
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0
25 Jul 2024
Tiny-PULP-Dronets: Squeezing Neural Networks for Faster and Lighter Inference on Multi-Tasking Autonomous Nano-Drones
Lorenzo Lamberti
Vlad Niculescu
Michał Barciś
Lorenzo Bellone
E. Natalizio
Luca Benini
Daniele Palossi
194
26
0
02 Jul 2024
Time-optimal Flight in Cluttered Environments via Safe Reinforcement Learning
Wei Xiao
Zhaohan Feng
Ziyu Zhou
Jian Sun
Gang Wang
Jie Chen
253
3
0
28 Jun 2024
Demonstrating Agile Flight from Pixels without State Estimation
Ismail Geles
L. Bauersfeld
Angel Romero
Jiaxu Xing
Davide Scaramuzza
393
43
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18 Jun 2024
Continual Learning for Robust Gate Detection under Dynamic Lighting in Autonomous Drone Racing
Zhongzheng Qiao
Xuan Huy Pham
Savitha Ramasamy
Xudong Jiang
Erdal Kayacan
Andriy Sarabakha
245
3
0
02 May 2024
UAV Navigation in Tunnels with 2D tilted LiDARs
D. Tardioli
L. Cano
Alejandro R. Mosteo
149
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15 Apr 2024
High-Speed Interception Multicopter Control by Image-based Visual Servoing
Kun Yang
C. Bai
Zhikun She
Quan Quan
291
12
0
12 Apr 2024
Online Time-Optimal Trajectory Generation for Two Quadrotors with Multi-Waypoints Constraints
Fangguo Zhao
Jiahao Mei
Jin Zhou
Jiming Chen
Shuo Li
134
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28 Feb 2024
Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding
IEEE International Conference on Robotics and Automation (ICRA), 2024
Mihir Kulkarni
Kostas Alexis
286
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06 Feb 2024
Aerial Field Robotics
Mihir Kulkarni
Brady G. Moon
Kostas Alexis
Sebastian A. Scherer
286
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19 Jan 2024
Learning Hybrid Policies for MPC with Application to Drone Flight in Unknown Dynamic Environments
Zhaohan Feng
Jie Chen
Wei Xiao
Jian Sun
Bin Xin
Gang Wang
332
7
0
18 Jan 2024
A Sim-to-Real Deep Learning-based Framework for Autonomous Nano-drone Racing
IEEE Robotics and Automation Letters (RA-L), 2023
Lorenzo Lamberti
Elia Cereda
Gabriele Abbate
Lorenzo Bellone
Victor Javier Kartsch Morinigo
Michał Barciś
Agata Barciś
Alessandro Giusti
Francesco Conti
Daniele Palossi
261
14
0
14 Dec 2023
Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network
International Symposium on Experimental Robotics (ISER), 2023
Eugenio Cuniato
Olov Andersson
Helen Oleynikova
Roland Siegwart
Michael Pantic
141
0
0
08 Dec 2023
Race Against the Machine: a Fully-annotated, Open-design Dataset of Autonomous and Piloted High-speed Flight
IEEE Robotics and Automation Letters (RA-L), 2023
Michael Bosello
Davide Aguiari
Yvo Keuter
Enrico Pallotta
Sara Kiade
Gyordan Caminati
Flavio Pinzarrone
Junaid Halepota
Jacopo Panerati
Giovanni Pau
347
13
0
05 Nov 2023
Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learning
Science Robotics (Sci. Robot.), 2023
Yunlong Song
Angel Romero
Matthias Müller
V. Koltun
Davide Scaramuzza
415
260
0
17 Oct 2023
Time-Optimal Gate-Traversing Planner for Autonomous Drone Racing
IEEE International Conference on Robotics and Automation (ICRA), 2023
Chao Qin
Maxime S.J. Michet
Jingxiang Chen
Hugh H. T. Liu
349
25
0
13 Sep 2023
Sim-to-Real Vision-depth Fusion CNNs for Robust Pose Estimation Aboard Autonomous Nano-quadcopter
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Luca Crupi
Elia Cereda
Alessandro Giusti
Daniele Palossi
232
8
0
03 Aug 2023
Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Mihir Kulkarni
Huan Nguyen
Kostas Alexis
243
13
0
21 Jul 2023
BatMobility: Towards Flying Without Seeing for Autonomous Drones
ACM/IEEE International Conference on Mobile Computing and Networking (MobiCom), 2023
E.M.S.L. Sie
Zikun Liu
Deepak Vasisht
187
21
0
21 Jul 2023
Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight
Science Robotics (Sci. Robot.), 2022
Philipp Foehn
Elia Kaufmann
Angel Romero
Robert Pěnička
Sihao Sun
...
T. Laengle
Giovanni Cioffi
Yunlong Song
Antonio Loquercio
Davide Scaramuzza
284
155
0
12 Jul 2023
Secure Deep Learning-based Distributed Intelligence on Pocket-sized Drones
European Conference/Workshop on Wireless Sensor Networks (EWSN), 2023
Elia Cereda
Alessandro Giusti
Daniele Palossi
195
3
0
04 Jul 2023
Autonomous Drone Racing: Time-Optimal Spatial Iterative Learning Control within a Virtual Tube
IEEE International Conference on Robotics and Automation (ICRA), 2023
Shuli Lv
Yan Gao
Jiaxing Che
Quan Quan
159
7
0
28 Jun 2023
Polynomial-based Online Planning for Autonomous Drone Racing in Dynamic Environments
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Qianhao Wang
Dong Wang
Chao Xu
Alan Gao
Fei Gao
261
16
0
26 Jun 2023
Actor-Critic Model Predictive Control
IEEE International Conference on Robotics and Automation (ICRA), 2023
Angel Romero
Yunlong Song
Davide Scaramuzza
596
69
0
16 Jun 2023
Learning Agile, Vision-based Drone Flight: from Simulation to Reality
International Symposium of Robotics Research (ISRR), 2023
Davide Scaramuzza
Elia Kaufmann
297
5
0
09 Apr 2023
Aggressive Trajectory Generation for A Swarm of Autonomous Racing Drones
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Yu-heng Shen
Jinming Xu
Jin Zhou
Dan Xu
Fangguo Zhao
Jiming Chen
Shuo Li
331
10
0
01 Mar 2023
Autonomous Drone Racing: A Survey
IEEE Transactions on robotics (TRO), 2023
D. Hanover
Antonio Loquercio
L. Bauersfeld
Angel Romero
Robert Pěnička
Yunlong Song
Giovanni Cioffi
Elia Kaufmann
Davide Scaramuzza
699
121
0
04 Jan 2023
User-Conditioned Neural Control Policies for Mobile Robotics
IEEE International Conference on Robotics and Automation (ICRA), 2022
L. Bauersfeld
Elia Kaufmann
Davide Scaramuzza
372
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0
22 Nov 2022
Learned Inertial Odometry for Autonomous Drone Racing
IEEE Robotics and Automation Letters (RA-L), 2022
Giovanni Cioffi
L. Bauersfeld
Elia Kaufmann
Davide Scaramuzza
262
35
0
27 Oct 2022
Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Jiawei Fu
Yunlong Song
Yongpeng Wu
Feng Yu
Davide Scaramuzza
302
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26 Oct 2022
SCTOMP: Spatially Constrained Time-Optimal Motion Planning
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Jon Arrizabalaga
Markus Ryll
320
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05 Oct 2022
Backflipping with Miniature Quadcopters by Gaussian Process Based Control and Planning
IEEE Transactions on Control Systems Technology (TCST), 2022
Péter Antal
Tamás Péni
R. Tóth
194
17
0
29 Sep 2022
Robust and Efficient Depth-based Obstacle Avoidance for Autonomous Miniaturized UAVs
IEEE Transactions on robotics (TRO), 2022
H. Müller
Vlad Niculescu
T. Polonelli
Michele Magno
Luca Benini
156
48
0
26 Aug 2022
PencilNet: Zero-Shot Sim-to-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing
IEEE Robotics and Automation Letters (RA-L), 2022
H. Pham
Andriy Sarabakha
Mykola Odnoshyvkin
Erdal Kayacan
275
21
0
28 Jul 2022
Event-based Navigation for Autonomous Drone Racing with Sparse Gated Recurrent Network
European Control Conference (ECC), 2022
Kristoffer Fogh Andersen
H. Pham
Halil Ibrahim Ugurlu
Erdal Kayacan
192
12
0
05 Apr 2022
Model Predictive Optimized Path Integral Strategies
IEEE International Conference on Robotics and Automation (ICRA), 2022
Dylan M. Asmar
Ransalu Senanayake
Shawn Manuel
Mykel J. Kochenderfer
305
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30 Mar 2022
Learning Minimum-Time Flight in Cluttered Environments
IEEE Robotics and Automation Letters (RA-L), 2022
Robert Pěnička
Yunlong Song
Elia Kaufmann
Davide Scaramuzza
368
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28 Mar 2022
Learning to estimate UAV created turbulence from scene structure observed by onboard cameras
Quentin Possamaï
Steeven Janny
Madiha Nadri Wolf
L. Bako
Christian Wolf
331
1
0
28 Mar 2022
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