Dr. Javier Alonso-Mora, Associate Professor

Autonomous Multi-Robots Lab. Delft University of Technology

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Aerial Vehicles

We contribute motion planning and control methods applied to aerial vehicles. In particular, we have developed methods for:
- Aerial Videography/Cinematography
- Formation Control and Aerial Display
- Collision Avoidance and Control
- Novel Vehicles

Chance-constrained Collision Avoidance for MAVs in dynamic environments
H. Zhu and J. Alonso-Mora
IEEE Robotics and Automation Letters (RA-L), Jan. 2019.
[PDF] [video] [code]
Flycon: Real-time Environment-independent Multi-view Human Pose Estimation with Aerial Vehicles
T. Naegeli, S. Oberholzer, S. Pluess, J. Alonso-Mora and O. Hilliges
ACM Transactions on Graphics (SIGGRAPH Asia), Dec. 2018.
[PDF] [video]
Distributed Formation Control in Dynamic Environments
J. Alonso-Mora, E. Montijano, T. Naegeli, O. Hilliges, M. Schweger and D. Rus
Autonomous Robots, 2018.
[PDF] [video]
Sample Efficient Learning of Path Following and Obstacle Avoidance Behavior for Quadrotors
S. Stevsic, T. Naegeli, J. Alonso-Mora and O. Hilliges
IEEE Robotics and Automation Letters, 2018.
[PDF] [video]
Real-time Planning for Automated Multi-View Drone Cinematography
T. Naegeli, L. Meier, A. Domahidi, J. Alonso-Mora, O. Hilliges
ACM Transactions on Graphics SIGGRAPH, vol. 36, no. 4, Article 132, Jul. 2017.
[PDF] [video]
Multi-robot Formation Control and Object Transport in Dynamic Environments via Constrained Optimization
J. Alonso-Mora, S. Baker, D. Rus
The International Journal of Robotics Research (IJRR), Vol 36, Issue 9, pp. 1000-1021, August 2017.
[PDF] [video]
Real-time Motion Planning for Aerial Videography with Dynamic Obstacle Avoidance and Viewpoint Optimization
T. Naegeli, J. Alonso-Mora, A. Domahidi, D. Rus, O. Hilliges
IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1696-1703, Jan. 2017.
[PDF] [video]
Collision Avoidance for Aerial Vehicles in Multi-Agent Scenarios
J. Alonso-Mora, T. Naegeli, R. Siegwart, P. Beardsley
Autonomous Robots, vol. 39, no. 1, pp. 101–121, Jun. 2015.
[PDF], [video]
Robust Vision-based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments
J. Liu, H. Zhu and J. Alonso-Mora
Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2020.
[PDF] [video]
B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for Probabilistic Multi-Robot Collision Avoidance
H. Zhu and J. Alonso-Mora
Proc. 2nd IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS'19), Aug. 2019.
[PDF] [video] [presentation]
Distributed Multi-Robot Formation Splitting and Merging in Dynamic Environments
H. Zhu, J. Juhl, L. Ferranti and J. Alonso-Mora
Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2019.
[PDF] [video]
IEEE ICRA Best Paper Award on Multi-robot Systems
Robust Collision Avoidance for Multiple Micro Aerial Vehicles Using Nonlinear Model Predictive Control
M. Kamel, J. Alonso-Mora, R. Siegwart and J. Nieto
Proc. of the IEEE/RSJ Conf. on Robotics and Intelligent Systems (IROS), October 2017.
[PDF] [video]
Foresight: Remote Sensing For Autonomous Vehicles Using a Small Unmanned Aerial Vehicle
A. Wallar, B. Araki, R. Chang, J. Alonso-Mora and D. Rus
Proc. of the Conf. on Field and Service Robotics (FSR), September 2017.
[PDF] [video]
Distributed Multi-Robot Navigation in Formation among Obstacles: A Geometric and Optimization Approach with Consensus
J. Alonso-Mora, E. Montijano, M. Schwager, D. Rus
Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (ICRA), May 2016.
[PDF] [video]
Towards Estimation and Correction of Wind Effects on a Quadrotor UAV
F. Schiano, J. Alonso-Mora, K. Rudin, P. Beardsley, R. Siegwart, B. Siciliano
Proc. of the Int. Micro Air Vehicle Conference and Competition, Aug. 2014.
[PDF] [video]
Viewpoint and Trajectory Optimization for Animation Display with a Large Group of Aerial Vehicles
M. Schoch, J. Alonso-Mora, R. Siegwart, P. Beardsley
Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2014.
[PDF] [video]
Object and Animation Display with Multiple Aerial Vehicles
J. Alonso-Mora, M. Schoch, A. Breitenmoser, R. Siegwart, P. Beardsley
Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 2012.
[PDF] [video]
Design and Control of a Spherical Omnidirectional Blimp
M. Burri, L. Gasser, M. K. ch, M. Krebs, S. Laube, A. Ledergerber, D. Meier, R. Michaud, L. Mosimann, L. Muri, C. Ruch, A. Schaffner, N. Vuilliomenet, J. Weichart, K. Rudin, S. Leutenegger, J. Alonso-Mora, R. Siegwart, P. Beardsley
Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nov. 2013.
[PDF] [video]