Publications

From Propeller Damage Estimation and Adaptation to Fault Tolerant Control: Enhancing Quadrotor Resilience
J. Mao, J. Yeom, S. Nair, G. Loianno
Paper Video

Visual Geo-localization with Self-supervised Representation Learning
J. Xiao, G. Zhu, G. Loianno
Paper Code

Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study
J. Yeom, G. Li, G. Loianno
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Video

BackpropTools: A Fast, Portable Deep Reinforcement Learning Library for Continuous Control
J. Eschmann, D. Albani, G. Loianno
Paper

Long-range UAV Thermal Geo-localization with Satellite Imagery
J. Xiao, D. Tortei, E. Roura, G. Loianno
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Code

AutoCharge: Autonomous Charging for Perpetual Quadrotor Missions
A. Saviolo, J. Mao, R. Balu TMB, V. Radhakrishnan, G. Loianno
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video

Learning quadrotor dynamics for precise, safe, and agile flight control
A. Saviolo, G. Loianno
Annual Reviews in Control
Paper

PENet: A Joint Panoptic Edge Detection Network
Y. Zhou, G. Loianno
Paper Video Code

GaPT: Gaussian Process Toolkit for Online Regression with Application to Learning Quadrotor Dynamics
F. Crocetti, J. Mao, A. Saviolo, G. Costante, G. Loianno
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video Code

Nonlinear Model Predictive Control for Cooperative Transportation and Manipulation of Cable Suspended Payloads with Multiple Quadrotors
G. Li, G. Loianno
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Video

Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
A. Saviolo, J. Frey, A. Rathod, M. Diehl, G. Loianno
IEEE Transactions on Robotics (T-RO)
Paper Video

Safety-Aware Human-Robot Collaborative Transportation and Manipulation with Multiple MAVs
G. Li*, X. Liu*, G. Loianno
Paper Video

Vision-based Perimeter Defense via Multiview Pose Estimation
E. Lee, G. Loianno, D. Jayaraman, V. Kumar
Paper

Coexistence of UAVs and Terrestrial Users in Millimeter-Wave Urban Networks
S. Kang, M. Mezzavilla, A. Lozano, G. Geraci, S. Rangan, V. Semkin, W. Xia, G. Loianno
Paper

Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
A. Saviolo, G. Li, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Video

Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
R. Ge*, M. Lee*, V. Radhakrishnan, Y. Zhou, G. Li, G. Loianno
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Video

Generative neural network channel modeling for millimeter-wave UAV communication
W. Xia, S. Rangan, M. Mezzavilla, A. Lozano, G. Geraci, V. Semkin, G. Loianno
IEEE Transactions on Wireless Communications (TWC)
Paper

RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation
G. Li, X. Liu, G. Loianno
IEEE Transactions on Robotics (T-RO)
Paper Code

Robust Active Visual Perching with Quadrotors on Inclined Surfaces
J. Mao, S. Nogar, C. Kroninger, G. Loianno
IEEE Transactions on Robotics (T-RO)
Paper

Autonomous Single-Image Drone Exploration With Deep Reinforcement Learning and Mixed Reality
A. Devo, J. Mao, G. Costante, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
IEEE International Conference on Robotics and Automation (ICRA)
Paper

Learning Model Predictive Control for Quadrotors
G. Li*, A. Tunchez*, G. Loianno
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video

Tombo Propeller: Bio-Inspired Deformable Structure toward Collision-Accommodated Control for Drones
S. T. Bui, Q. K. Luu, D. Q. Nguyen, N. D. M. Le, G. Loianno, V. A. Ho
Paper

Multi-Robot Collaborative Perception with Graph Neural Networks
Y. Zhou, J. Xiao, Y. Zhou, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video

Selective and Hierarchical Allocation of Sensing Resources for Anomalous Target Identification in Exploratory Missions
B. Blakeslee, G. Loianno
IEEE Symposium on Safety, Security, and Rescue Robotics (SSRR)
Paper

VIPose: Real-time Visual-Inertial 6D Object Pose Tracking
R. Ge, G. Loianno
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Video

Aggressive Visual Perching with Quadrotors on Inclined Surfaces
J. Mao, G. Li, S. Nogar, C. Kroninger, G. Loianno
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper Video

PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU
G. Li*, A. Tunchez*, G. Loianno
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video

Cooperative Transportation of Cable Suspended Payloads With MAVs Using Monocular Vision and Inertial Sensing
G. Li, R. Ge, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video

Tracking and Relative Localization of Drone Swarms with a Vision-based Headset
M. Pavliv, F. Schiano, C. Reardon, D. Floreano, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
Paper Video

Design and Experimental Evaluation of Distributed Cooperative Transportation of Cable Suspended Payloads with Micro Aerial Vehicles
G. Li, G. Loianno
International Symposium on Experimental Robotics (ISER)
Paper Video

FENet: Fast Real-time Semantic Edge Detection Network
Y. Zhou, R. Ge, G. McGrath, G. Loianno
IEEE Symposium on Safety, Security, and Rescue Robotics (SSRR)
Paper Video

Design and Deployment of an Autonomous Unmanned Ground Vehicle for Urban Firefighting Scenarios
K. Jindal, A. Wang, D. Thakur, A. Zhou, V. Spurny, V. Walter, G. Broughton, T. Krajnik, M. Saska, G. Loianno
Paper Video

Nuclear environments inspection with micro aerial vehicles: Algorithms and experiments
D. Thakur, G. Loianno, W. Liu, V. Kumar
International Symposium on Experimental Robotics
Paper

Observability-Aware Trajectories for Geometric and Inertial Self-Calibration
C. Bohm, G. Li, G. Loianno, S. Weiss
Power On and Go Robots
Paper

Imu-based inertia estimation for a quadrotor using newton-euler dynamics
J. Svacha, J. Paulos, G. Loianno, V. Kumar
IEEE Robotics and Automation Letters (RA-L)
Paper

Towards design of a deformable propeller for drone safety
D. Q. Nguyen, G. Loianno
IEEE International Conference on Soft Robotics (RoboSoft)
Paper

Efficient trajectory library filtering for quadrotor flight in unknown environments
V. K. Viswanathan, E. Dexheimer, G. Li, G. Loianno, M. Kaess, S. Scherer
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper

Autonomous Inspection of a Containment Vessel using a Micro Aerial Vehicle
D. Thakur, G. Loianno, L. Jarin-Lipschitz, A. Zhou, V. Kumar
IEEE Symposium on Safety, Security, and Rescue Robotics (SSRR)
Paper Video

Online Estimation of Geometric and Inertia Parameters for Multirotor Aerial Vehicles
V. Wüest, V. Kumar, G. Loianno
IEEE International Conference on Robotics and Automation (ICRA)
Paper Video

Inertial Yaw-Independent Velocity and Attitude Estimation for High Speed Quadrotor Flight
V. Wüest, V. Kumar, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
Paper Video

Human Gaze-Driven Spatial Tasking of an Autonomous MAV voice
L. Yuan, C. Reardon, G. Warnell, G. Loianno
IEEE Robotics and Automation Letters (RA-L)
Paper Video

Autonomous inspection of a containment vessel using a micro aerial vehicle
D. Thakur, G. Loianno, L. Jarin-Lipschitz, A. Zhou, V. Kumar
IEEE Symposium on Safety, Security, and Rescue Robotics (SSRR)
Paper

Autonomous landing on a moving vehicle with an unmanned aerial vehicle
T. Baca, P. Stepan, V. Spurny, D. Hert, R. Penicka, M. Saska, J. Thomas, G. Loianno, V. Kumar
IEEE Symposium on Safety, Security, and Rescue Robotics (SSRR)
Paper

Millimeter wave remote UAV control and communications for public safety scenarios
W. Xia, M. Polese, M. Mezzavilla, G. Loianno, S. Rangan, M. Zorzi
IEEE International Conference on Sensing, Communication, and Networking (SECON)
Paper

Inertial velocity and attitude estimation for quadrotors
J. Svacha, K. Mohta, M. Watterson, G. Loianno, V. Kumar
IEEE International Conference on Intelligent Robots and Systems (IROS)
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Model predictive trajectory tracking and collision avoidance for reliable outdoor deployment of unmanned aerial vehicles
T. Baca, D. Hert, G. Loianno, M. Saska, V. Kumar
IEEE International Conference on Intelligent Robots and Systems (IROS)
Paper

Spatio-temporally smooth local mapping and state estimation inside generalized cylinders with micro aerial vehicles
T. Ozaslan, G. Loianno, J. Keller, C. J. Taylor, V. Kumar
IEEE Robotics and Automation Letters (RA-L)
Paper

Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors
A. Santamaria-Navarro, G. Loianno, J. Sola, V. Kumar, J. Andrade-Cetto
Autonomous robots
Paper

Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors
A. Weinstein, A. Cho, G. Loianno, V. Kumar
IEEE Robotics and Automation Letters (RA-L)
Paper