Peer-reviewed Journal Papers

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


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.



Peer-reviewed Conference Papers

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


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


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


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



D. Falanga, P. Foehn, P. Lu, D. Scaramuzza
PAMPC: Perception-Aware Model Predictive Control
arXiv Pre-print arXiv:1804.04811, 2018.

PDF   Video  Code