Publications

Champion-level drone racing using deep reinforcement learning

Nature, 2023
Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
PDF Video DOI
Champion-level drone racing using deep reinforcement learning

Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight

Science Robotics, 2022
Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, Davide Scaramuzza
PDF Project Video DOI
Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight

Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms

IEEE Robotics and Automation Letters, 2022
Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, Marco Pavone, Davide Scaramuzza, Markus Ryll
PDF Code DOI
Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

IEEE International Conference on Robotics and Automation, 2022
Elia Kaufmann, Leonard Bauersfeld, Davide Scaramuzza
PDF Video
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

IEEE Robotics and Automation Letters, 2021
Drew Hanover, Philipp Foehn, Sihao Sun, Elia Kaufmann, Davide Scaramuzza
PDF Video
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

Learning High-Speed Flight in the Wild

Science Robotics, 2021
Antonio Loquercio, Elia Kaufmann, René Ranftl, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
PDF Project Video DOI
Learning High-Speed Flight in the Wild

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Robotics: Science and Systems, 2021
Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza
PDF Dataset Project Video
NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Autonomous Drone Racing with Deep Reinforcement Learning

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Yunlong Song, Mats Steinweg, Elia Kaufmann, Davide Scaramuzza
PDF Video
Autonomous Drone Racing with Deep Reinforcement Learning

Data-Driven MPC for Quadrotors

IEEE Robotics and Automation Letters, 2021
Guillem Torrente, Elia Kaufmann, Philipp Foehn, Davide Scaramuzza
PDF Code Video
Data-Driven MPC for Quadrotors

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

IEEE International Conference on Robotics and Automation, 2021
Yunlong Song, HaoChih Lin, Elia Kaufmann, Peter Duerr, Davide Scaramuzza
PDF Video
Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning

IEEE Robotics and Automation Letters, 2020
Florian Fuchs, Yunlong Song, Elia Kaufmann, Davide Scaramuzza, Peter Duerr
PDF Video
Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning

Flightmare: A Flexible Quadrotor Simulator

Conference on Robot Learning, 2020
Yunlong Song, Selim Naji, Elia Kaufmann, Antonio Loquercio, Davide Scaramuzza
PDF Project Video
Flightmare: A Flexible Quadrotor Simulator

Deep Drone Acrobatics

Robotics: Science and Systems, 2020
Best Paper Award Finalist
Elia Kaufmann, Antonio Loquercio, René Ranftl, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
PDF Video
Deep Drone Acrobatics

AlphaPilot: Autonomous Drone Racing

Robotics: Science and Systems, 2020
Best Systems Paper Award
Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza
PDF Video
AlphaPilot: Autonomous Drone Racing

Deep Drone Racing: From Simulation to Reality with Domain Randomization

IEEE Transactions on Robotics, 2020
Best Paper Award Honorable Mention
Antonio Loquercio, Elia Kaufmann, René Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza
PDF Code Video
Deep Drone Racing: From Simulation to Reality with Domain Randomization

Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing

IEEE International Conference on Robotics and Automation, 2019
This approach was used to win the IROS 2018 Autonomous Drone Race.
Elia Kaufmann, Mathias Gehrig, Philipp Foehn, René Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza
PDF Video
Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing

Deep Drone Racing: Learning Agile Flight in Dynamic Environments

Conference on Robot Learning, 2018
Best Systems Paper Award
Elia Kaufmann, Antonio Loquercio, René Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza
PDF Video
Deep Drone Racing: Learning Agile Flight in Dynamic Environments

Rapid Exploration with Multi-Rotors: A Frontier Selection Method for High Speed Flight

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Best Search and Rescue Robotics Paper Award Finalist
Titus Cieslewski, Elia Kaufmann, Davide Scaramuzza
PDF Video
Rapid Exploration with Multi-Rotors: A Frontier Selection Method for High Speed Flight