Automatic Gain Tuning for Multirotors Using Differentiable Optimization

CoRL Workshop on Differentiable Optimization Everywhere: Simulation, Estimation, Learning, and Control, 2024

Achim Prittwitz, Khaled Wahba, Wolfgang Hönig

GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System

Accepted at IROS, 2024

Christian Henkel, Marc Toussaint, Wolfgang Hönig

iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization

arXiv (Accepted at IROS), 2024

Joaquim Ortiz-Haro, Wolfgang Hönig, Valentin N. Hartmann Marc Toussaint, Ludovic Righetti

db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning

Accepted at ICRA, 2024

Akmaral Moldagalieva, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hönig

Effort Level Search in Infinite Completion Trees with Application to Task-and-Motion Planning

Accepted at ICRA, 2024

Marc Toussaint, Joaquim Ortiz-Haro, Valentin N. Hartmann, Erez Karpas, Wolfgang Hönig

Efficient Optimization-based Cable Force Allocation for Geometric Control of Multiple Quadrotors Transporting a Payload

IEEE Robotics and Automation Letters (RA-L); presentation at IROS, 2024

Khaled Wahba, Wolfgang Hönig

Model AI Assignment: Collective Intelligence from a Synthetic and Biological Perspective

Symposium on Educational Advances in Artificial Intelligence (EAAI), 2024

Pia Bideau, David Bierbach, Wolfgang Hönig

Enhancing Sampling-Based Kinodynamic Motion Planning with Reinforcement Learning Policies

MS Thesis (Computer Science), 2023

Examiners: Wolfgang Hönig, Marc Toussaint; Mentors: Joaquim Ortiz-Haro, Wolfgang Hönig

Alexander Weingart

Learning-Based Relative State Estimation for Ultralow-Power Multirotor Teams

MS Thesis (Master of Science ICT Innovation), 2023

Examiners: Wolfgang Hönig, Oliver Brock; Mentors: Akmaral Moldagalieva, Pia Hanfeld

Keerthana Laxmish

iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning

arXiv (Submitted to IEEE T-RO), 2023

Joaquim Ortiz-Haro, Wolfgang Hönig, Valentin N. Hartmann, Marc Toussaint

Survey of Simulators for Aerial Robots

IEEE Robotics & Automation Magazine, 2023

Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire, Chiara Gabellieri, Wolfgang Hönig, Joseph Moore, Marin Kobilarov

Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments

arXiv (Accepted at IROS), 2024

Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hönig

MRNAV: Multi-Robot Aware Planning and Control Stack for Collision and Deadlock-free Navigation in Cluttered Environments

arXiv, 2023

Baskın Şenbaşlar, Pilar Luiz, Wolfgang Hönig, Gaurav S. Sukhatme

Kidnapping Deep Learning-based Multirotors using Optimized Flying Adversarial Patches

International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023

Pia Hanfeld, Khaled Wahba, Marina M.-C. Höhne, Michael Bussmann, Wolfgang Hönig

RLSS: real-time, decentralized, cooperative, networkless multi-robot trajectory planning using linear spatial separations

Autonomous Robots (AuRo), Special Issue "Robot Swarms in the Real World: from Design to Deployment", 2023

Baskın Şenbaşlar, Wolfgang Hönig, Nora Ayanian

Motion Planning for Cable-Suspended Payload Transportation with a Team of Multirotors in Cluttered Environments

Future of Construction Workshop at ICRA, 2023

Best Research Award at the workshop

Khaled Wahba, Wolfgang Hönig

Flying Adversarial Patches: Manipulating the Behavior of Deep Learning-based Autonomous Multirotors

Multi-Robot Learning Workshop at ICRA, 2023

Pia Hanfeld, Marina M.-C. Höhne, Michael Bussmann, Wolfgang Hönig

Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning

Energy Efficient Aerial Robotic Systems Workshop at ICRA, 2023

Welf Rehberg, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hönig

Learning-based Multirotor System Model Enhancements

BS Thesis (Computer Science), 2023

Examiners: Wolfgang Hönig, Marc Toussaint; Mentors: Akmaral Moldagalieva, Khaled Wahba

Jana Schicke

Virtual Omnidirectional Perception for Downwash Prediction within a Team of Nano Multirotors Flying in Close Proximity

International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023

Akmaral Moldagalieva, Wolfgang Hönig

K-Order Markov Optimization and Sequential Convex Programming for Multirotor Motion Planning

MS Thesis (Computational Engineering Science), 2022

Examiners: Marc Toussaint, Oliver Brock; Mentors: Wolfgang Hönig, Joaquim Ortiz-Haro

Welf Rehberg

Distributed Geometric and Optimization-based Control of Multiple Quadrotors for Cable-Suspended Payload Transport

Decision Making in Multi-Agent Systems Workshop at IROS, 2022

Khaled Wahba, Wolfgang Hönig

Benchmarking Sampling-, Search-, and Optimization-based Approaches for Time-Optimal Kinodynamic Mobile Robot Motion Planning

Evaluating Motion Planning Performance: Metrics, Tools, Datasets, and Experimental Design Workshop at IROS, 2022

Wolfgang Hönig, Joaquim Ortiz-Haro, Marc Toussaint

Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation

IEEE/RSJ international conference on intelligent robots and systems (IROS), 2022

Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, Wolfgang Hönig

db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning

IEEE/RSJ international conference on intelligent robots and systems (IROS), 2022

Wolfgang Hönig, Joaquim Ortiz-Haro, Marc Toussaint

Lighthouse Positioning System: Dataset, Accuracy, and Precision for UAV Research

Robot Swarms in the Real World Workshop at ICRA, 2021

Arnaud Taffanel, Barbara Rousselot, Jonas Danielsson, Kimberly McGuire, Kristoffer Richardsson, Marcus Eliasson, Tobias Antonsson, Wolfgang Hönig