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)
— 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)
— The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation of such problems and often fall back to suboptimal solutions. The existence of many different conventions further complicates this issue, especially when interfacing multiple(More)