Angela P. Schoellig

Orcid: 0000-0003-4012-4668

Affiliations:
  • TU Munich, Germany
  • University of Toronto, Canada
  • ETH Zurich, Switzerland (former)


According to our database1, Angela P. Schoellig authored at least 153 papers between 2007 and 2024.

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Bibliography

2024
Force Push: Robust Single-Point Pushing With Force Feedback.
IEEE Robotics Autom. Lett., August, 2024

Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks.
IEEE Robotics Autom. Lett., February, 2024

Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation.
IEEE Robotics Autom. Lett., January, 2024

Optimal Initialization Strategies for Range-Only Trajectory Estimation.
IEEE Robotics Autom. Lett., 2024

UTIL: An ultra-wideband time-difference-of-arrival indoor localization dataset.
Int. J. Robotics Res., 2024

Optimized Control Invariance Conditions for Uncertain Input-Constrained Nonlinear Control Systems.
IEEE Control. Syst. Lett., 2024

Preventing Unconstrained CBF Safety Filters Caused by Invalid Relative Degree Assumptions.
CoRR, 2024

Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach.
CoRR, 2024

IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation.
CoRR, 2024

Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior.
CoRR, 2024

Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Is Data All That Matters? the Role of Control Frequency for Learning-Based Sampled-Data Control of Uncertain Systems.
Proceedings of the American Control Conference, 2024

Practical Considerations for Discrete-Time Implementations of Continuous-Time Control Barrier Function-Based Safety Filters.
Proceedings of the American Control Conference, 2024

2023
Keep It Upright: Model Predictive Control for Nonprehensile Object Transportation With Obstacle Avoidance on a Mobile Manipulator.
IEEE Robotics Autom. Lett., December, 2023

Bayesian optimization with safety constraints: safe and automatic parameter tuning in robotics.
Mach. Learn., October, 2023

Perception-Aware Tag Placement Planning for Robust Localization of UAVs in Indoor Construction Environments.
J. Comput. Civ. Eng., March, 2023

Boreas: A multi-season autonomous driving dataset.
Int. J. Robotics Res., January, 2023

Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter.
IEEE Control. Syst. Lett., 2023

Safe Multi-Agent Reinforcement Learning for Formation Control without Individual Reference Targets.
CoRR, 2023

Swarm-GPT: Combining Large Language Models with Safe Motion Planning for Robot Choreography Design.
CoRR, 2023

SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization.
CoRR, 2023

A Remote Sim2real Aerial Competition: Fostering Reproducibility and Solutions' Diversity in Robotics Challenges.
CoRR, 2023

What is the Impact of Releasing Code with Publications? Statistics from the Machine Learning, Robotics, and Control Communities.
CoRR, 2023

Robust Single-Point Pushing with Force Feedback.
CoRR, 2023

POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Uncertainty-Aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments.
IROS, 2023

Does Unpredictability Influence Driving Behavior?
IROS, 2023

Multi-View Keypoints for Reliable 6D Object Pose Estimation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Continuous-Time Range-Only Pose Estimation.
Proceedings of the 20th Conference on Robots and Vision, 2023

Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon.
Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

2022
Bridging the Model-Reality Gap With Lipschitz Network Adaptation.
IEEE Robotics Autom. Lett., 2022

Finding the Right Place: Sensor Placement for UWB Time Difference of Arrival Localization in Cluttered Indoor Environments.
IEEE Robotics Autom. Lett., 2022

Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics.
IEEE Robotics Autom. Lett., 2022

Min-Max Vertex Cycle Covers With Connectivity Constraints for Multi-Robot Patrolling.
IEEE Robotics Autom. Lett., 2022

Fly Out the Window: Exploiting Discrete-Time Flatness for Fast Vision-Based Multirotor Flight.
IEEE Robotics Autom. Lett., 2022

Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
IEEE Robotics Autom. Lett., 2022

Characterising the Robustness of Reinforcement Learning for Continuous Control using Disturbance Injection.
CoRR, 2022

Stochastic Modeling of Tag Installation Error for Robust On-Manifold Tag-Based Visual-Inertial Localization.
CoRR, 2022

Should Radar Replace Lidar in All-Weather Mapping and Localization?
CoRR, 2022

Boreas: A Multi-Season Autonomous Driving Dataset.
CoRR, 2022

Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning.
Annu. Rev. Control. Robotics Auton. Syst., 2022

POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain Systems.
Proceedings of the Learning for Dynamics and Control Conference, 2022

Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Robust Predictive Output-Feedback Safety Filter for Uncertain Nonlinear Control Systems.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022

Fusion of Machine Learning and MPC under Uncertainty: What Advances Are on the Horizon?
Proceedings of the American Control Conference, 2022

2021
Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots.
IEEE Robotics Autom. Lett., 2021

Meta Learning With Paired Forward and Inverse Models for Efficient Receding Horizon Control.
IEEE Robotics Autom. Lett., 2021

Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?
IEEE Robotics Autom. Lett., 2021

Zeus: A system description of the two-time winner of the collegiate SAE autodrive competition.
J. Field Robotics, 2021

To Share or Not to Share? Performance Guarantees and the Asymmetric Nature of Cross-Robot Experience Transfer.
IEEE Control. Syst. Lett., 2021

Exploiting Differential Flatness for Robust Learning-Based Tracking Control Using Gaussian Processes.
IEEE Control. Syst. Lett., 2021

safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning.
CoRR, 2021

Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning.
Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Learning to Fly - a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-agent Quadcopter Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization.
Proceedings of the 18th Conference on Robots and Vision, 2021

Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control.
Proceedings of the 18th Conference on Robots and Vision, 2021

Learning a Stability Filter for Uncertain Differentially Flat Systems using Gaussian Processes.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

RLO-MPC: Robust Learning-Based Output Feedback MPC for Improving the Performance of Uncertain Systems in Iterative Tasks.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

2020
Estimating and reacting to forces and torques resulting from common aerodynamic disturbances acting on quadrotors.
Robotics Auton. Syst., 2020

Variational Inference With Parameter Learning Applied to Vehicle Trajectory Estimation.
IEEE Robotics Autom. Lett., 2020

A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3).
IEEE Robotics Autom. Lett., 2020

Online Trajectory Generation With Distributed Model Predictive Control for Multi-Robot Motion Planning.
IEEE Robotics Autom. Lett., 2020

Deep neural networks as add-on modules for enhancing robot performance in impromptu trajectory tracking.
Int. J. Robotics Res., 2020

Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?
CoRR, 2020

Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors.
CoRR, 2020

Learning-based Bias Correction for Ultra-wideband Localization of Resource-constrained Mobile Robots.
CoRR, 2020

Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Experience Selection Using Dynamics Similarity for Efficient Multi-Source Transfer Learning Between Robots.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Context-aware Cost Shaping to Reduce the Impact of Model Error in Receding Horizon Control.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019
A Modular Framework for Motion Planning Using Safe-by-Design Motion Primitives.
IEEE Trans. Robotics, 2019

There's No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure.
IEEE Robotics Autom. Lett., 2019

Learn Fast, Forget Slow: Safe Predictive Learning Control for Systems With Unknown and Changing Dynamics Performing Repetitive Tasks.
IEEE Robotics Autom. Lett., 2019

Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control.
IEEE Robotics Autom. Lett., 2019

Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems.
IEEE Robotics Autom. Lett., 2019

No-Regret Bayesian Optimization with Unknown Hyperparameters.
J. Mach. Learn. Res., 2019

An Analysis of the Expressiveness of Deep Neural Network Architectures Based on Their Lipschitz Constants.
CoRR, 2019

Hierarchically Consistent Motion Primitives for Quadrotor Coordination.
CoRR, 2019

Distributed iterative learning control for multi-agent systems - Theoretic developments and application to formation flying.
Auton. Robots, 2019

Fast and In Sync: Periodic Swarm Patterns for Quadrotors.
Proceedings of the International Conference on Robotics and Automation, 2019

Building a Winning Self-Driving Car in Six Months.
Proceedings of the International Conference on Robotics and Automation, 2019

Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking.
Proceedings of the 17th European Control Conference, 2019

Learning Probabilistic Models for Safe Predictive Control in Unknown Environments.
Proceedings of the 17th European Control Conference, 2019

Trajectory Tracking for Quadrotors with Attitude Control on S<sup>2</sup>×S<sup>1</sup>.
Proceedings of the 17th European Control Conference, 2019

Point Me In The Right Direction: Improving Visual Localization on UAVs with Active Gimballed Camera Pointing.
Proceedings of the 16th Conference on Computer and Robot Vision, 2019

aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge.
Proceedings of the 16th Conference on Computer and Robot Vision, 2019

Active Training Trajectory Generation for Inverse Dynamics Model Learning with Deep Neural Networks.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

2018
The Regular Indefinite Linear Quadratic Optimal Control Problem: Stabilizable Case.
SIAM J. Control. Optim., 2018

An Inversion-Based Learning Approach for Improving Impromptu Trajectory Tracking of Robots With Non-Minimum Phase Dynamics.
IEEE Robotics Autom. Lett., 2018

Data-Efficient Multirobot, Multitask Transfer Learning for Trajectory Tracking.
IEEE Robotics Autom. Lett., 2018

Learn Fast, Forget Slow: Safe Predictive Learning Control for Systems with Unknown, Changing Dynamics Performing Repetitive Tasks.
CoRR, 2018

Estimation-Based Model Predictive Control for Automatic Crosswind Stabilization of Hybrid Aerial Vehicles.
CoRR, 2018

Transfer Learning for High-Precision Trajectory Tracking Through L<sub>1</sub> Adaptive Feedback and Iterative Learning.
CoRR, 2018

Experience Recommendation for Long Term Safe Learning-based Model Predictive Control in Changing Operating Conditions.
CoRR, 2018

On the construction of safe controllable regions for affine systems with applications to robotics.
Autom., 2018

Hybrid Model Predictive Control for Crosswind Stabilization of Hybrid Airships.
Proceedings of the 2018 International Symposium on Experimental Robotics, 2018

Adaptive Model Predictive Control for High-Accuracy Trajectory Tracking in Changing Conditions.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Experience-Based Model Selection to Enable Long-Term, Safe Control for Repetitive Tasks Under Changing Conditions.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Flatness-Based Model Predictive Control for Quadrotor Trajectory Tracking.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Level-Headed: Evaluating Gimbal-Stabilised Visual Teach and Repeat for Improved Localisation Performance.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Model Predictive Path-Following for Constrained Differentially Flat Systems.
CoRR, 2017

Learning of Coordination Policies for Robotic Swarms.
CoRR, 2017

Efficient Multi-Task and Multi-Robot Transfer with Continued Learning.
CoRR, 2017

Aerial Rock Fragmentation Analysis in Low-Light Condition Using UAV Technology.
CoRR, 2017

High-Precision Trajectory Tracking in Changing Environments Through $\mathcal{L}_1$ Adaptive Feedback and Iterative Learning.
CoRR, 2017

Point-Cloud-Based Aerial Fragmentation Analysis for Application in the Minerals Industry.
CoRR, 2017

Safe Model-based Reinforcement Learning with Stability Guarantees.
Proceedings of the Advances in Neural Information Processing Systems 30: Annual Conference on Neural Information Processing Systems 2017, 2017

A framework for multi-vehicle navigation using feedback-based motion primitives.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Multi-robot transfer learning: A dynamical system perspective.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

High-precision trajectory tracking in changing environments through L1 adaptive feedback and iterative learning.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Learning multimodal models for robot dynamics online with a mixture of Gaussian process experts.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Virtual vs. real: Trading off simulations and physical experiments in reinforcement learning with Bayesian optimization.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Deep neural networks for improved, impromptu trajectory tracking of quadrotors.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Towards Visual Teach and Repeat for GPS-Denied Flight of a Fixed-Wing UAV.
Proceedings of the Field and Service Robotics, 2017

Design of deep neural networks as add-on blocks for improving impromptu trajectory tracking.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

2016
Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking.
J. Field Robotics, 2016

Robust Constrained Learning-based NMPC enabling reliable mobile robot path tracking.
Int. J. Robotics Res., 2016

Unscented External Force Estimation for Quadrotors and Experiments.
CoRR, 2016

A real-time analysis of rock fragmentation using UAV technology.
CoRR, 2016

Unscented external force and torque estimation for quadrotors.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Safe and robust robot maneuvers based on reach control.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Safe controller optimization for quadrotors with Gaussian processes.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Distributed iterative learning control for a team of quadrotors.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Safe learning of regions of attraction for uncertain, nonlinear systems with Gaussian processes.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

A Preliminary Study of Transfer Learning between Unicycle Robots.
Proceedings of the 2016 AAAI Spring Symposia, 2016

2015
An upper bound on the error of alignment-based Transfer Learning between two linear, time-invariant, scalar systems.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Conservative to confident: Treating uncertainty robustly within Learning-Based Control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Safe and robust learning control with Gaussian processes.
Proceedings of the 14th European Control Conference, 2015

2014
Application-driven design of aerial communication networks.
IEEE Commun. Mag., 2014

Learning-based nonlinear model predictive control to improve vision-based mobile robot path-tracking in challenging outdoor environments.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

A Proof-of-Concept Demonstration of Visual Teach and Repeat on a Quadrocopter Using an Altitude Sensor and a Monocular Camera.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014

Design of norm-optimal iterative learning controllers: The effect of an iteration-domain Kalman filter for disturbance estimation.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

2013
Dance of the Flying Machines: Methods for Designing and Executing an Aerial Dance Choreography.
IEEE Robotics Autom. Mag., 2013

Visual teach and repeat, repeat, repeat: Iterative Learning Control to improve mobile robot path tracking in challenging outdoor environments.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

2012
Optimization-based iterative learning for precise quadrocopter trajectory tracking.
Auton. Robots, 2012

Iterative learning of feed-forward corrections for high-performance tracking.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Feed-forward parameter identification for precise periodic quadrocopter motions.
Proceedings of the American Control Conference, 2012

2011
The Flying Machine Arena as of 2010.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Feasiblity of motion primitives for choreographed quadrocopter flight.
Proceedings of the American Control Conference, 2011

2010
Synchronizing the motion of a quadrocopter to music.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A simple learning strategy for high-speed quadrocopter multi-flips.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Independent vs. joint estimation in multi-agent iterative learning control.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
Optimization-based iterative learning control for trajectory tracking.
Proceedings of the 10th European Control Conference, 2009

2007
A Hybrid Bellman Equation for Bimodal Systems.
Proceedings of the Hybrid Systems: Computation and Control, 10th International Workshop, 2007

A Hybrid Bellman Equation for systems with regional dynamics.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007


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