Michael Burri

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— The challenge of aerial robotic physical interaction towards inspection of infrastructure facilities through contact is the main motivation of this paper. A hybrid model predictive control framework is proposed, based on which a typical quadrotor vehicle becomes capable of stable physical interaction , accurate trajectory tracking on environmental(More)
— Robust, accurate pose estimation and mapping at real-time in six dimensions is a primary need of mobile robots, in particular flying Micro Aerial Vehicles (MAVs), which still perform their impressive maneuvers mostly in controlled environments. This work presents a visual-inertial sensor unit aimed at effortless deployment on robots in order to equip them(More)
The mammalian target of rapamycin (mTOR) is a key regulator of cellular growth which associates with other proteins to form two multi-protein complexes called mTORC1 and mTORC2. Dysregulation of mTORC1 signalling in brain is implicated in neuropathological conditions such as autism spectrum or neurodegenerative disorders. Accordingly, allosteric mTOR(More)
— This paper presents Skye, a novel blimp design. Skye is a helium-filled sphere of diameter 2.7m with a strong inelastic outer hull and an impermeable elastic inner hull. Four tetrahedrally-arranged actuation units (AU) are mounted on the hull for locomotion, with each AU having a thruster which can be rotated around a radial axis through the sphere(More)
— Within this paper, a new fast algorithm that provides efficient solutions to the problem of inspection path planning for complex 3D structures is presented. The algorithm assumes a triangular mesh representation of the structure and employs an alternating two–step optimization paradigm to find good viewpoints that together provide full coverage and a(More)
Precise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared(More)