Publications

Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza (2025). HDVIO2.0: Wind and Disturbance Estimation with Hybrid Dynamics VIO. IEEE T-RO.

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Leonard Bauersfeld, Davide Scaramuzza (2025). A Monocular Event-Camera Motion Capture System. arXiv.

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Leonard Bauersfeld, Koen Mueller, Dominic Ziegler, Filippo Coletti, Davide Scaramuzza (2024). Robotics meets Fluid Dynamics: A Characterization of the Induced Airflow around a Quadrotor. IEEE RA-L.

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Roxanne Merat, Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza (2024). Drift-Free Visual SLAM Using Digital Twins. IEEE RA-L.

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Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza (2024). Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight. CoRL 2024.

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Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza (2024). MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints. RSS 2024.

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Ismail Geles, Leonard Bauersfeld, Angel Romero, Jiaxu Xing, Davide Scaramuzza (2024). Demonstrating Agile Flight from Pixels without State Estimation. RSS 2024.

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Drew Hanover, Antonio Loquercio, Leonard Bauersfeld, Angel Romero, Robert Penicka, Yunlong Song, Giovanni Cioffi, Elia Kaufmann, Davide Scaramuzza (2024). Autonomous Drone Racing: A Survey. IEEE T-RO.

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Jiaxu Xing, Leonard Bauersfeld, Yunlong Song, Chunwei Xing, Davide Scaramuzza (2024). Contrastive Learning for Enhancing Robust Scene Transfer in Vision-Based Agile Flight. ICRA 2024.

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Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza (2023). Champion-Level Drone-Racing using Deep Reinforcement Learning. Nature.

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Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza (2023). HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO. RSS 2023.

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Leonard Bauersfeld, Angel Romero, Manasi Muglikar, Davide Scaramuzza (2023). Cracking Double-Blind Review: Authorship attribution with deep learning. PLOS ONE.

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Manasi Muglikar, Leonard Bauersfeld, Diederik P. Moeys, Davide Scaramuzza (2023). Event-Based Shape from Polarization. CVPR 2023.

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Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza (2023). User-Conditioned Neural Control Policies for Mobile Robotics. ICRA 2023.

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Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza (2023). Learned Inertial Odometry for Autonomous Drone Racing. IEEE RA-L.

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Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, Davide Scaramuzza (2022). Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight. Science Robotics.

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Elia Kaufmann, Leonard Bauersfeld, Davide Scaramuzza (2022). A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight. IEEE ICRA 2022.

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Leonard Bauersfeld, Davide Scaramuzza (2022). Range, Endurance, and Optimal Speed Estimates for Multicopters. IEEE RA-L.

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Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza (2021). NeuroBEM: Hybrid Aerodynamic Quadrotor Model. RSS 2021.

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Leonard Bauersfeld, Lukas Spannagl, Guillame Ducard, Christopher Onder (2021). MPC Flight Control for Tilt-Rotor VTOL Aircraft. IEEE T-AES.

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Leonard Bauersfeld, Guillaume Ducard (2020). Fused-PID Control for Tilt-Rotor VTOL Aircraft. MED 2020.

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Leonard Bauersfeld, Guillaume Ducard (2019). RTOB SLAM: Real-Time Onboard Laser-Based Localization and Mapping. MDPI Vehicles.

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Leonard Bauersfeld, Guillaume Ducard (2019). Low-Cost 3D Laser Scanner Design. IEEE SAS 2019.

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