Publications
This list only includes publications since the lab was founded. For other relevant publications see Wolfgang Hönig's personal webpage.
![Paper image](assets/img/ortizharo2024idbrrt.jpg)
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
arXiv (Accepted at IROS), 2024
![Paper image](assets/img/moldagalieva2023dbcbs.jpg)
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Accepted at ICRA, 2024
![Paper image](assets/img/toussaint2023els.jpg)
Effort Level Search in Infinite Completion Trees with Application to Task-and-Motion Planning
Accepted at ICRA, 2024
![Paper image](assets/img/wahba2023a.jpg)
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
![Paper image](assets/img/bideau2024.jpg)
Model AI Assignment: Collective Intelligence from a Synthetic and Biological Perspective
Symposium on Educational Advances in Artificial Intelligence (EAAI), 2024
![Paper image](assets/img/weingart2023msthesis.jpg)
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
![Paper image](assets/img/laxmish2023msthesis.jpg)
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
![Paper image](assets/img/idbastar.jpg)
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
arXiv (Submitted to IEEE T-RO), 2023
![Paper image](assets/img/dimmig2023survey.jpg)
Survey of Simulators for Aerial Robots
arXiv (Accepted at IEEE RAM), 2023
![Paper image](assets/img/wahba2023coltransplanning.jpg)
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
arXiv (Accepted at IROS), 2024
![Paper image](assets/img/senbaslar2023mrnav.jpg)
MRNAV: Multi-Robot Aware Planning and Control Stack for Collision and Deadlock-free Navigation in Cluttered Environments
arXiv, 2023
![Paper image](assets/img/hanfeld2023kidnapping.jpg)
Kidnapping Deep Learning-based Multirotors using Optimized Flying Adversarial Patches
International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023
![Paper image](assets/img/senbaslar2023rlss.jpg)
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
![Paper image](assets/img/wahba2023payloadplanning.jpg)
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
![Paper image](assets/img/hanfeld2023flyingpatches.jpg)
Flying Adversarial Patches: Manipulating the Behavior of Deep Learning-based Autonomous Multirotors
Multi-Robot Learning Workshop at ICRA, 2023
![Paper image](assets/img/rehberg2023comparison.jpg)
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
Energy Efficient Aerial Robotic Systems Workshop at ICRA, 2023
![Paper image](assets/img/schicke2023bsthesis.jpg)
Learning-based Multirotor System Model Enhancements
BS Thesis (Computer Science), 2023
Examiners: Wolfgang Hönig, Marc Toussaint; Mentors: Akmaral Moldagalieva, Khaled Wahba
![Paper image](assets/img/moldagalieva2023a.jpg)
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
![Paper image](assets/img/rehberg2022msthesis.jpg)
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
![Paper image](assets/img/wahba2022payload.jpg)
Distributed Geometric and Optimization-based Control of Multiple Quadrotors for Cable-Suspended Payload Transport
Decision Making in Multi-Agent Systems Workshop at IROS, 2022
![Paper image](assets/img/hoenig2022benchmark.jpg)
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
![Paper image](assets/img/toussaint2022sequence.jpg)
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
IEEE/RSJ international conference on intelligent robots and systems (IROS), 2022
![Paper image](assets/img/hoenig2022dbAstar.jpg)
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning
IEEE/RSJ international conference on intelligent robots and systems (IROS), 2022
![Paper image](assets/img/taffanel2021lightHouse.jpg)
Lighthouse Positioning System: Dataset, Accuracy, and Precision for UAV Research
Robot Swarms in the Real World Workshop at ICRA, 2021