Publications de Izzet Kagan Erünsal

Multi-robot System Architectures

Alcherio Martinoli, Cyrill Silvan Baumann, Izzet Kagan Erünsal

Springer2025

Multi-Robot Online Coverage with a Team of Resource-Constrained Micro Aerial Vehicles

Alcherio Martinoli, Lucas Cédric Wälti, Izzet Kagan Erünsal

We present a novel coordination scheme for online multi-robot coverage with a team of resource-constrained aerial vehicles relying on the PH-tree data structure. We propose a hybrid system architecture where coverage tasks are assigned to robots in a centr ...

Springer2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations

Alcherio Martinoli, Izzet Kagan Erünsal

This paper presents a distributed estimation and control architecture for leader-follower formations of multi-rotor micro aerial vehicles. The architecture involves multi-rate extended Kalman filtering and nonlinear model predictive control in order to opt ...

Springer2022

Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study

Alcherio Martinoli, Izzet Kagan Erünsal

This paper presents a comparison of linear and nonlinear Model Predictive Control (MPC) strategies for trajectory tracking Micro Aerial Vehicles (MAVs). In this comparative study, we paid particular attention to establish quantitatively fair metrics and te ...

2022

Nonlinear Model Predictive Control for Formations of Multi-Rotor Micro Aerial Vehicles: An Experimental Approach

Alcherio Martinoli, Izzet Kagan Erünsal

In a world where the complexity and performance requirements of the tasks requested from micro aerial vehicles are continuously increasing, smooth design and deployment of multi-robot systems are gaining more significance. This paper tackles such challengi ...

Springer2021