David Rohr — accepted AI-conference papers

2026

Towards Robust Optimization-Based Autonomous Dynamic Soaring With a Fixed-Wing UAV

Marvin Harms, Jaeyoung Lim, David Rohr, Friedrich M. Rockenbauer, Nicholas R. J. Lawrance, Roland Siegwart

RA-L 2026

Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a fixed-wing uncrewed aerial vehicle (UAV). The framework makes u

Cited by 0 Source ↗Scholar ↗

2023

Credible Online Dynamics Learning for Hybrid UAVs

David Rohr, Nicholas Lawrance, Olov Andersson, Roland Siegwart

ICRA 2023poster

Hybrid unmanned aerial vehicles (H-UAVs) are highly versatile platforms with the ability to transition between rotary- and fixed-wing flight. However, their (aero)dynamics tend to be highly nonlinear which increases the risk of introducing safety-critical modeling errors in a controller. Designing a…

Cited by 6 Source ↗Scholar ↗

2021

Nonlinear Model Predictive Velocity Control of a VTOL Tiltwing UAV

David Rohr, Matthias Studiger, Thomas Stastny, Nicholas R. J. Lawrance, Roland Siegwart

RA-L 2021

This letter presents the modeling, system identification and nonlinear model predictive control (NMPC) design for longitudinal, full envelope velocity control of a small tiltwing hybrid unmanned aerial vehicle (H-UAV). A first-principles based dynamics model is derived and identified from flight dat

Cited by 30 Source ↗Scholar ↗

2020

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops

Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel +2

RA-L 2020

We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated us

Cited by 160 Source ↗Scholar ↗

2019

Attitude and Cruise Control of a VTOL Tiltwing UAV

David Rohr, Thomas Stastny, Sebastian Verling, Roland Siegwart

RA-L 2019

This letter presents the mathematical modeling, controller design, and flight testing of an overactuated vertical take-off and landing tiltwing unmanned aerial vehicle (UAV). Based on simplified aerodynamics and first principles, a dynamical model of the UAV is developed which captures key aerodynam

Cited by 28 Source ↗Scholar ↗