Carlo Alberto Pascucci — accepted AI-conference papers

2021

Design, Optimal Guidance and Control of a Low-cost Re-usable Electric Model Rocket

Lukas Spannagl, Elias Hampp, Andrea Carron, Jerome Sieber, Carlo Alberto Pascucci, Aldo U. Zgraggen +2

IROS 2021poster

In the last decade, autonomous vertical take-off and landing (VTOL) vehicles have become increasingly important as they lower mission costs thanks to their re-usability. However, their development is complex, rendering even the basic experimental validation of the required advanced guidance and cont…

Cited by 18 Source ↗Scholar ↗

2018

Real-Time Quad-Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization

Michael Szmuk, Carlo Alberto Pascucci, BehÇet AÇikmeşe

IROS 2018poster

In this paper, we employ convex optimization to perform real-time 3-dimensional path planning on-board a quad-rotor and demonstrate its real-time capabilities. Building on our previous work, we make the following modifications: (1)we assume the obstacles are mobile, and (2)we introduce a simple fram…

Cited by 33 Source ↗Scholar ↗

2017

Convexification and real-time on-board optimization for agile quad-rotor maneuvering and obstacle avoidance

Michael Szmuk, Carlo Alberto Pascucci, Daniel Dueri, Behcet Açikmeşe

IROS 2017poster

In this paper, we apply lossless and successive convexification techniques and employ real-time on-board convex optimization to perform constrained motion planning for quadrotors. In general, this problem is challenging for real-time on-board applications due to its non-convex nature. The ability to…

Cited by 65 Source ↗Scholar ↗