About Me

I am currently pursuing a Ph.D. in motion planning and control for Micro Aerial Vechiles, under the supervision of Prof. Davide Scaramuzza at the Robotics and Perception Group. My background is in Robotics and Control Systems, as I got a B.Sc. and a M.Sc in Automation Engineering from University of Naples “Federico II”, with focus on dynamical systems, robotics and control.

I am interested in building autonomous, intelligent machines able to navigate by themselves using only onboard sensing and computing. I believe that autonomous robots have the potential to remarkably change and improve our society. My research interests lie at the intersection between perception and action. More specifically, I am investigating techniques to exploit motion planning and control to cope with the limitations of onboard sensors for high-speed flight with small-scale, lightweight, vision-based autonomous quadrotors. Check out my publications for further details.

Drop me an email at falanga@ifi.uzh.ch if you want to get in touch, or check out my profiles on LinkedIn and Google Scholar.

Education

  1. Ph.D. in Robotics - University of Zurich
    [2015-Present] Motion Planning and Control for Vision-based Micro Aerial Vehicles.
  2. M.Sc. in Automation Engineering - University of Naples “Federico II”
    [2012-2015] Robotics, Systems and Control - Summa cum Laude.
  3. B.Sc. in Automation Engineering - University of Naples “Federico II”
    [2008-2012] Dynamical Systems and Control.

Publications

Peer-reviewed Journal Papers

  1. M. Faessler, D. Falanga, D. Scaramuzza
    Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight
    IEEE Robotics and Automation Letters (RA-L), 2017
    [PDF] [Video] [PPT] [Code] [BibTex]
  2. S. Kim, D. Falanga, D. Scaramuzza
    Computing The Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects
    IEEE Robotics and Automation Letters (RA-L), 2018
    [PDF] [BibTex]

Peer-reviewed Conference Papers

  1. D. Falanga, E. Mueggler, M. Faessler, D. Scaramuzza
    Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision
    IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017
    [PDF] [Video] [PPT] [BibTex]
  2. P. Foehn, D. Falanga, N. Kuppuswamy, R. Tedrake, D. Scaramuzza
    Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload
    Robotics: Science and Systems (RSS), Boston, 2017 Best Student Paper Award Finalist
    [PDF] [Video] [PPT] [BibTex]
  3. D. Falanga, A. Zanchettin, A. Simovic, J. Delmerico, D. Scaramuzza
    Vision-based Autonomous Quadrotor Landing on a Moving Platform
    IEEE/RSJ International Symposium on Safety, Security and Rescue Robotics (SSRR), Shanghai, 2017
    [PDF] [Video] [PPT] [BibTex]
  4. R. Spica, D. Falanga, E. Cristofalo, E. Montijano, D. Scaramuzza, M. Schwager
    A Game Theoretic Approach to Autonomous Two-Player Drone Racing
    Robotics: Science and Systems (RSS), Pittsburgh, 2018
    [PDF] [Video] [BibTex]
  5. D. Falanga, P. Foehn, P. Lu, D. Scaramuzza
    PAMPC: Perception-Aware Model Predictive Control for Quadrotors
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018
    [PDF] [Video] [Code] [BibTex]

Videos

Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Fligh

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Vision-based Autonomous Quadrotor Landing on a Moving Platform

A Game Theoretic Approach to Autonomous Two-Player Drone Racing