About Me

I am currently pursuing a Ph.D. in motion planning and control for Micro Aerial Vehicles, 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.

Publications

Peer-reviewed Journal Papers

  1. RAL17_Faessler

    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

  2. RAL18_Kim

    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

  3. RAL18_Falanga

    D. Falanga, K. Kleber, S. Mintchev, D. Floreano, D. Scaramuzza

    The Foldable Drone: A Morphing Quadrotor that can Squeeze and Fly

    IEEE Robotics and Automation Letters (RA-L), 2018

Peer-reviewed Conference Papers

  1. ICRA17_Falanga

    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

  2. RSS17_Foehn

    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

  3. SSRR17_Falanga

    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

  4. RSS18_Spica

    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

  5. IROS18_Falanga

    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

Videos

Papers

The Foldable Drone: A Morphing Quadrotor that can Squeeze and Fly

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 Flight

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

Competitions and Demonstrations

IROS 2017 Autonomous Drone Race

IROS 2018 Autonomous Drone Race

Integrative Demo of Aerial and Terrestrial Robots for Rescue Missions