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<!DOCTYPE html>
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<h1 class="title-name">Thomas Stastny</h1>
<p class="title-description">Aerial-Robotics Researcher</p>
<a href="mailto:tstastny@ethz.ch" target="_blank" class="fa fa-envelope fa-2x" style="padding-left:10px;padding-right:10px;"></a>
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<h2><i class="fa fa-user-circle-o fa-1x"></i> About Me</h2>
<p>Hi, I'm TJ. I'm currently a Senior Researcher in the <a href="http://www.asl.ethz.ch" target="_blank">Autonomous Systems Lab</a> (ASL) at <a href="http://www.ethz.ch" target="_blank">ETH Zürch</a>, Switzerland, where I also completed my PhD in Robotics (Summer 2020) with Prof. Roland Siegwart. My work at ASL spans design, system identification, state estimation, control, and planning for fixed-wing and hybrid vertical take-off and landing (VTOL) aerial robots operating in unstructured environments (the real world!). A significant portion of my time as a PhD student was additionally geared towards developing autonomous behaviors for the <em>endurance world record</em> holding <a href="http://atlantiksolar.ethz.ch/" target="_blank">AtlantikSolar UAV</a>.</p>
<p>Prior to my PhD, I completed a Bachelors and Masters of Science in Aerospace Engineering at the <a href="http://ae.engr.ku.edu/" target="_blank">University of Kansas</a>, USA. My Masters work was funded by the NSF <a href="http://cresis.ku.edu/" target="_blank">Center for Remote Sensing of Ice Sheets</a> (CReSIS), where I worked on the development of radar-integrated unmanned aerial vehicles (UAVs) used for measuring the thickness of ice sheets in Antarctica. During my Bachelors degree, I also spent one semester abroad taking courses within the Systems & Control Masters program at <a href="http://www.tudeflt.nl" target="_blank">TU Delft</a>, the Netherlands.</p>
<p>I have a passion for aerial-robotic <em>field work</em>, having deployed UAVs to the Arctic, Antarctic, Brazilian Amazon, and Swiss/Italian Alps. My primary research motivations are geared towards enabling safe, reliable, and useful(!) autonomous aerial-robotic operations in remote settings.</p>
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<h2><i class="fa fa-plane fa-1x"></i> Selected Projects</h2>
<p class="tight">@: <a class="js-scroll-trigger" href="#proj-ASL">ASL, ETH Zürich</a> | <a class="js-scroll-trigger" href="#proj-KU">CReSIS, University of Kansas</a></p>
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<h3 style="text-align:left" id="proj-ASL">Autonomous Systems Lab (ASL), ETH Zürich</h3>
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<h4>Drop & Recovery Drones</h4>
<p class="tight">We developed hardware and algorithms for autonomous, beyond visual line-of-sight (BVLOS), drone-based deployment of low-power, long-term GNSS monitoring stations on the <a href="https://en.wikipedia.org/wiki/Gorner_Glacier" target="_blank">Gorner Glacier</a>, Switzerland, for multi-point, in situ ice motion recording. Funding from <a href="https://www.ar.admin.ch/en/armasuisse-wissenschaft-und-technologie-w-t/home.html" target="blank">armasuisse S+T</a> and the <a href="https://swisspolar.ch/" target="blank">Swiss Polar Institute (SPI)</a>.</p>
<p class="tight"><em>Michael Pantic, Dario Panzuto, Thomas Stastny, Guillaume Jouvet, Juan Nieto, and Roland Siegwart</em></p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/1tvYj1aGEUc" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
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<h4>Sun2Ice: Monitoring Glaciers with Solar-Powered UAVs</h4>
<p class="tight">Together with glaciologists from the <a href="https://vaw.ethz.ch/" target="_blank">Laboratory of Hydraulics, Hydrology, and Glaciology</a> at ETH Zürich, I organized and lead a glacier monitoring field campaign to <a href="https://en.wikipedia.org/wiki/Qaanaaq" target="_blank">Qaanaaq, Greenland</a> (77°N!), resulting in the <em>first-ever</em> autonomous, BVLOS, solar-powered flights of a UAV in a polar region. Funded by the <a href="https://www.ethz-foundation.ch/" target="_blank">ETH Foundation</a>. See blog post <a href="https://sec.ethz.ch/content/main/en/news-und-veranstaltungen/eth-news/news/2017/10/solardrohne-auf-arktischer-mission.html" target="_blank">here</a>.</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/wyS6W1t_ryQ" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
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<h4>Flying Backwards(..?!)</h4>
<p class="tight">Small, long-range, fixed-wing UAVs executing surveying, mapping, or searching missions will inevitably encounter strong and turbulent wind fields, at times reaching to, or even <em>exceeding</em> the aircraft's nominal airspeed. I developed efficient (energetically <em>and</em> computationally) wind-aware guidance logic to allow safe flight in these conditions. (<a class="js-scroll-trigger" href="#paper-windy2019">paper</a>, <a href="#paper-phdthesis">dissertation</a>)</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/oM690LO29kM" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
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<h4>VTOL Tilt-Wing UAV Control</h4>
<p class="tight">We developed mathematical modeling and controller design for an over-actuated Vertical Take-off and Landing (VTOL) tilt-wing Unmanned Aerial Vehicle (UAV). Performance of the controller is demonstrated in hovering, transitioning, and cruising flight experiments.</p>
<p class="tight"><em>David Rohr, Thomas Stastny, Sebastian Verling, and Roland Siegwart</em> (<a class="js-scroll-trigger" href="#paper-tiltwing">paper</a>)</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/pSXEnHUY2_4" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
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<h4>Nonlinear MPC for Fixed-Wing UAVs</h4>
<p class="tight"> Part of my PhD work involved the development of a long-horizon nonlinear model predictive controller (NMPC) for fixed-wing UAVs, considering path following objectives, stall prevention, actuator fault tolerance, wind-awareness, and explicit vision-based terrain feedback. (<a href="#paper-NMPC1">paper1</a>, <a href="#paper-NMPC2">paper2</a>, <a href="#paper-phdthesis">dissertation</a>)</p>
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<td style="vertical-align:top"><div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/ncoDvWys1g8" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></td>
<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/kcjzv2GjIsg" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></td>
<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/ZYWOdgeGmjQ" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></td>
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<h4>VTOL Tailsiter UAV Control</h4>
<p class="tight">I've worked with Sebastian Verling (Co-Founder of <a href="http://www.wingtra.com" target="_blank">Wingtra</a>) and multiple students on a range of projects related to the development of control and estimation techniques for VTOL tailsitter UAVs including <a href="#paper-tailsittertransopt">transition optimization</a>, <a href="#paper-olsson2021">full envelope system identification</a>, <a href="#paper-demitri2017">wind estimation</a>, <a href="#paper-fuhrer2019">fault-tolerant control</a> (see video below!).</p>
<p class="tight"><em>Silvan Fuhrer, Sebastian Verling, Thomas Stastny, and Roland Siegwart</em> (<a class="js-scroll-trigger" href="#paper-tiltwing">paper</a>)</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/tmJQ2r2AOwk" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
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<h4>AtlantikSolar: A Perpetual Flight Capable Solar-Powered UAV</h4>
<p class="tight">I worked with the Fixed-Wing Team at the Autonomous Systems Lab, ETH Zürich, conducting performance optimization and developing automatic take-off, landing, and cruise control design for the AtlantikSolar UAV, resulting in an <b>81.5 hour endurance world record</b> solar-powered flight for all aircraft below 50kg (<a href="http://www.atlantiksolar.ethz.ch/index.html%3Fp=670.html" target="_blank">blog</a>, <a class="js-scroll-trigger" href="#paper-AS1">paper</a>) and 26 hour, fully autonomous, search and rescue payload equipped flight with passive thermal updraft detection and exploitation (<a href="http://www.atlantiksolar.ethz.ch/index.html%3Fp=931.html" target="_blank">blog</a>, <a class="js-scroll-trigger" href="#paper-AS2">paper</a>).</p>
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<td style="vertical-align:top"><div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/8m4_NpTQn0E" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></td>
<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/8m76Mx9m2nM" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></td>
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<h4>Adventura AtlantikSolar@Brazil</h4>
<p class="tight">During an expedition to the <b>Brazilian Amazon</b>, we had the opportunity to work with SIPAM (Brazilian Amazon Protection Agency) on a real-life disaster relief support mission, using the AtlinkSolar UAV. A boat carrying 5000 cattle sunk in the Bacarena Port of the Rio Pará, Belém, Brazil, further spilling 740 tons oil. This was a suprise mission during the <a href="http://www.swissnexbrazil.org/atlantiksolar/" target="_blank">Adventura AtlantikSolar@Brazil</a> project, organized together with Swissnex, Brazil.
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<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="vid/Oilspillmapping-1.webm" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" preload="none" allowfullscreen></iframe></div></td>
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<h4>Free LSD! (...Landing Site Detection)</h4>
<p class="tight">Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency situations. We developed a perception system addressing this challenge by detecting landing sites based on their texture and geometric shape without using any prior knowledge about the environment.</p>
<p class="tight"><em>Timo Hinzmann, Thomas Stastny, Cesar Cadena, Roland Siegwart, and Igor Gilitschenski</em> (<a class="js-scroll-trigger" href="#paper-freelsd">paper</a>)</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/SOpYirBwHtQ" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
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<h4>SenseSoar2: A Solar-Powered UAV for Precision Agriculture</h4>
<p class="tight"> I worked on an ESA funded collaboration between ASL and <a href="http://www.gamaya.com" target="_blank">GAMAYA</a>, the project <a href="https://business.esa.int/projects/solar3" target="_blank">SOLAR<sup>3</sup></a> led to the development of novel UAV platform, SenseSoar2, equipped with a hyper spectral imaging (HSI) camera for long-range precision farming flights. The SenseSoar2 system has been successfully operated in Ukraine by an internal national drone operator during the 2018-2019 years. SenseSoar2 was additionally utiliized in collaboration with Swiss industry partners Swisscom, <a href="https://www.involi.com/" target="blank">INVOLI</a>, and <a href="https://www.v2sky.ch/" target="blank">v2sky</a>, where we were able to demonstrate the <em>first</em> networked, BVLOS flight of a UAV in Switzerland, over Lake Neuchâtel.</p>
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<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/ks-TiJP3dxs" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></td>
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<h4>SHERPA: Search & Rescue Robots</h4>
<p class="tight">I was a core researcher on the EU FP7 funded SHERPA project; a large-scale research project for mixed ground and aerial robotic platforms to support search and rescue activities in real-world hostile environments such as an alpine scenario. Our contribution included the demonstration of collaborative heterogeneous aerial deployments combining fixed-wing and R-MAX helicopter platforms for distributed environmental mapping and missing person identification. (<a class="js-scroll-trigger" href="#paper-multiaircraft1">paper1</a>,<a class="js-scroll-trigger" href="#paper-multiaircraft2">paper2</a>). <a href="https://de.euronews.com/next/2016/05/23/wespen-falken-esel-roboter-tiere-sollen-europas-bergwacht-unterstuetzen" target="_blank">Euronews Video</a>.</p>
<a href="https://de.euronews.com/next/2016/05/23/wespen-falken-esel-roboter-tiere-sollen-europas-bergwacht-unterstuetzen" target="_blank"><img src="img/euronews_sherpa_video_thumbnail.JPG" style="width:100%"></a>.
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<h3 style="text-align:left" id="proj-KU">Center for Remote Sensing of Ice Sheets (CReSIS), University of Kansas, USA</h3>
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<h4>UAV-Based Radar Sounding of Sub-Glacial Bedrock in Antarctica</h4>
<p class="tight">I embarked on an <b>8-week deployment</b> with the University of Kansas' Automatic Flight Systems team to <a href="https://en.wikipedia.org/wiki/Lake_Whillans" target="_blank">Lake Whillans Glacier, Antarctica</a> resulting in <em>first-ever</em> autonomous glacial bed-rock sounding via a UAV. More info <a href="https://cresis.ku.edu/content/research/field-programs/antarctica#2013" target="_blank">here</a>.</p><!-- Funded by the NSF <a href="https://cresis.ku.edu/" target="_blank">Center for Remote Sensing of Ice Sheets (CReSIS)</a>.</p> -->
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<td style="vertical-align:top"><a href="img/antarctica_open_drone.png" target="_blank"><img class="tile-img" src="img/antarctica_open_drone.png" style="width:100%"></a></td>
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<td style="vertical-align:top"><a href="img/antarctica_two_planes.JPG" target="_blank"><img class="tile-img" src="img/antarctica_two_planes.JPG" style="width:100%"></a></td>
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<h4>Multi-Agent Avoidance and Formation Control for Fixed-Wing UAVs</h4>
<p class="tight"> During my time as a Masters graduate research assistant in the University of Kansas Aerospace Dept., I conducted research on control and planning for fixed-wing UAVs including multi-agent avoidance and formation strategies (<a class="js-scroll-trigger" href="#paper-MPF1">paper1</a>, <a class="js-scroll-trigger" href="#paper-MPF2">paper2</a>).</p>
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<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="vid/Robust3D-1.webm" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" preload="none" allowfullscreen></iframe></div></td>
<td style="vertical-align:top"> <div class="video-container"><iframe class="video" src="vid/FormationWind-1.webm" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" preload="none" allowfullscreen></iframe></div></td>
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</section>
<!-- PUBLICATIONS / / / / / / / / / / / / / / / / / / / / / / / / / / / / /-->
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<h2><i class="fa fa-book fa-1x"></i> Publications</h2>
<p>See publication metrics on <a href="https://scholar.google.ch/citations?user=R5Fs1A4AAAAJ&hl=en" target="_blank">Google Scholar</a>.</p>
<!-- DISSERTATION -->
<hr />
<h4 id="paper-phdthesis">Dissertation</h4>
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<p class="tight"><u>T. Stastny</u>. "<b>Low-Altitude Control and Local Re-Planning Strategies for Small Fixed-Wing UAVs</b>". <em>Doctoral Thesis, ETH Zürich</em>. 2020.</p>
<p><a href="pdf/tstastny_phd_thesis_wcover.pdf" target="_blank"><i class="fa fa-file-pdf-o"></i> pdf</a> | <a href="https://www.research-collection.ethz.ch/handle/20.500.11850/449759" target="_blank">ETH Research Collection</a></p>
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<h4>Journal Papers</h4>
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<p>2020</p>
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<p class="tight">D. Malyuta, C. Brommer, D. Hentzen, <u>T. Stastny</u>, R. Siegwart, and R. Brockers. "<b>Long-duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-sensing Data Acquisition</b>". <em>Journal of Field Robotics (JFR)</em>. | <a href="https://arxiv.org/abs/1908.06381" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a></p>
<!-- <p class="tight"><a href="https://arxiv.org/abs/1908.06381" target="_blank"><i class="ai ai-arxiv"></i> arXiv</a></p> -->
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<p>2019</p>
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<p class="tight">D. Rohr, <u>T. Stastny</u>, S. Verling, and R. Siegwart. "<b>Attitude and Cruise Control of a VTOL Tiltwing UAV</b>". <em>IEEE Robotics and Automation Letters (RA-L)</em>. | <a href="https://arxiv.org/abs/1903.10623" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a> | <a href="https://youtu.be/pSXEnHUY2_4" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
<!-- <p class="tight"><a href="https://arxiv.org/abs/1903.10623" target="_blank"><i class="ai ai-arxiv"></i> arXiv</a> | <a href="https://youtu.be/pSXEnHUY2_4" target="_blank"><i class="fa fa-youtube"></i> Video</a></p> -->
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<p>2018</p>
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<p class="tight">T. Hinzmann, <u>T. Stastny</u>, C. Cadena, R. Siegwart, and I. Gilitschenski. "<b>Free LSD: Prior-free Visual Landing Site Detection for Autonomous Planes</b>". <em>IEEE Robotics and Automation Letters (RA-L)</em>. | <a href="https://arxiv.org/abs/1802.09043" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a> | <a href="https://youtu.be/SOpYirBwHtQ" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
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<p>2018</p>
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<p class="tight">P. Oettershagen, <u>T. Stastny</u>, T. Hinzmann, K. Rudin, T. Mantel, A. Melzer, B. Wawrzacz, G. Hitz, and R. Siegwart. "<b>Robotic Technologies for Solar-powered UAVs: Fully Autonomous Updraft-aware Aerial Sensing for Multiday Search-and-rescue Missions</b>". <em>Journal of Field Robotics (JFR)</em>. | <a href="https://onlinelibrary.wiley.com/doi/10.1002/rob.21765" target="_blank">publisher</a> | <a href="https://youtu.be/SOpYirBwHtQ" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
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<p>2017</p>
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<p class="tight">P. Oettershagen, A. Melzer, Mantel, K. Rudin, <u>T. Stastny</u>, B. Wawrzacz, T. Hinzmann, S. Leutenegger, K. Alexis, and R. Siegwart. "<b>Design of Small Hand-launched Solar-powered UAVs: From Concept Study to a Multi-day World Endurance Record Flight</b>". <em>Journal of Field Robotics (JFR)</em>. | <a href="https://onlinelibrary.wiley.com/doi/10.1002/rob.21717" target="_blank">publisher</a> | <a href="https://youtu.be/8m4_NpTQn0E" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
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<p>2015</p>
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<p class="tight"><u>T. Stastny</u>, G. Garcia, and S. Keshmiri. "<b>Collision and Obstacle Avoidance in Unmanned Aerial Systems Using Morphing Potential Field Navigation and Nonlinear Model Predictive Control</b>". <em>Journal of Dynamic Systems, Measurement, and Control</em>. | <a href="https://asmedigitalcollection.asme.org/dynamicsystems/article-abstract/137/1/014503/473592/Collision-and-Obstacle-Avoidance-in-Unmanned" target="_blank">publisher</a> | <a href="vid/Citysimanimation3-1.webm" target="_blank"><i class="fa fa-film"></i> video</a></p>
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<p>2015</p>
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<p class="tight">G. Garcia, S. Keshmiri, and <u>T. Stastny</u>. "<b>Nonlinear Model Predictive Controller Robustness Extension for Unmanned Aircraft</b>". <em>International Journal of Intelligent Unmanned Systems</em>. | <a href="https://www.emerald.com/insight/content/doi/10.1108/IJIUS-01-2015-0002/full/html" target="_blank">publisher</a></p>
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<p>2014</p>
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<p class="tight">G. Garcia, S. Keshmiri, and <u>T. Stastny</u>. "<b>Robust and Adaptive Nonlinear Model Predictive Controller for Unsteady and Highly Nonlinear Unmanned Aircraft</b>". <em>IEEE Transactions on Control Systems Technology</em>. | <a href="https://ieeexplore.ieee.org/document/6994270/" target="_blank">publisher</a></p>
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<h4>Book Chapters</h4>
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<p>2017</p>
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<p class="tight">M. Kamel, <u>T. Stastny</u>, K. Alexis, R. Siegwart. "<b>Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System</b>". <em>Robot Operating System (ROS), The Complete Reference (Volume 2)</em>. | <a href="https://www.springer.com/gp/book/9783319549262" target="_blank">publisher</a></p>
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<h4>Peer-Reviewed Conference Papers</h4>
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<p>2021</p>
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<p class="tight">C. Olsson, S. Verling, <u>T. Stastny</u>, and R. Siegwart. "<b>Full Envelope System Identification of a VTOL Tailsitter UAV</b>". <em>AIAA Guidance, Navigation, and Control (GNC) Conference</em>. <em>Accepted for publication</em>.</p>
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<p>2020</p>
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<p class="tight">M. Harms, N. Kaufmann, F. Rockenbauer, N. Lawrance, <u>T. Stastny</u>, and R. Siegwart. "<b>Differential Sweep Attitude Control for Swept Wing UAVs</b>". <em>International Conference on Unmanned Aircraft Systems (ICUAS)</em>. | <a href="https://ieeexplore.ieee.org/document/9214033" target="_blank">publisher</a></p>
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<p>2019</p>
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<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u> and R. Siegwart. "<b>On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds</b>". <em>IEEE International Conference on Intelligent Robots and Systems (IROS)</em>. | <a href="https://arxiv.org/abs/1908.01381" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a> | <a href="https://youtu.be/oM690LO29kM" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
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<p>2019</p>
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<td style="vertical-align:top">
<p class="tight">D. Hentzen, <u>T. Stastny</u>, R. Siegwart, and R. Brockers. "<b>Disturbance Estimation and Rejection for High-Precision Multirotor Position Control</b>". <em>IEEE International Conference on Intelligent Robots and Systems (IROS)</em>. | <a href="https://arxiv.org/abs/1908.03166" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a> | <a href="https://youtu.be/-1PvZ5YBIuw" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
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<p>2019</p>
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<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u>, E. Ahbe, M. Dangel, and R. Siegwart. "<b>Locally Power-optimal Nonlinear Model Predictive Control for Fixed-wing Airborne Wind Energy</b>". <em>American Control Conference (ACC)</em>. | <a href="https://ieeexplore.ieee.org/document/8814383/" target="_blank">publisher</a></p>
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<p>2019</p>
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<td style="vertical-align:top">
<p class="tight">S. Fuhrer, S. Verling, <u>T. Stastny</u>, and R. Siegwart. "<b>Fault-tolerant Flight Control of a VTOL Tailsitter UAV</b>". <em>IEEE International Conference on Robotics and Automation (ICRA)</em>. | <a href="https://ieeexplore.ieee.org/document/8793467" target="_blank">publisher</a></p> | <a href="https://youtu.be/tmJQ2r2AOwk" target="_blank"><i class="fa fa-youtube"></i> video</a></p>
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<p>2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">J. Lee, T. Muskardin, C. Pacz, P. Oettershagen, <u>T. Stastny</u>, I. Sa, R. Siegwart, and K. Kondak. "<b>Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms</b>". <em>IEEE International Conference on Intelligent Robots and Systems (IROS)</em>. | <a href="https://ieeexplore.ieee.org/document/8594126" target="_blank">publisher</a></p>
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<td style="vertical-align:top">
<p>2018</p>
</td>
<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u> and R. Siegwart. "<b>Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics</b>". <em>International Conference on Unmanned Aircraft Systems (ICUAS)</em>. | <a href="https://arxiv.org/abs/1802.02624" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a> | <a href="https://youtu.be/ncoDvWys1g8" target="_blank"><i class="fa fa-youtube"></i> video1</a>, <a href="https://youtu.be/kcjzv2GjIsg" target="_blank"><i class="fa fa-youtube"></i> video2</a>, <a href="https://youtu.be/ZYWOdgeGmjQ" target="_blank"><i class="fa fa-youtube"></i> video3</a></p>
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<p>2017</p>
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<td style="vertical-align:top">
<p class="tight">L. Furieri, <u>T. Stastny</u>, L. Marconi, R. Siegwart, and I. Gilitschenski. "<b>Gone with the Wind: Nonlinear Guidance for Small Fixed-wing Aircraft in Arbitrarily Strong Windfields</b>". <em>American Control Conference (ACC)</em>. <a href="http://a2c2.org/awards/o-hugo-schuck-best-paper-award" target="_blank"><b>Best Paper Award.</b></a> | <a href="https://arxiv.org/abs/1609.07577" target="_blank"><i class="ai ai-arxiv"></i> arxiv</a></p>
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<p>2017</p>
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<td style="vertical-align:top">
<p class="tight">S. Verling, <u>T. Stastny</u>, G. Bättig, K. Alexis, and R. Siegwart. "<b>Model-based Transition Optimization for a VTOL Tailsitter</b>". <em>IEEE International Conference on Robotics and Automation (ICRA)</em>. | <a href="https://ieeexplore.ieee.org/document/7989454" target="_blank">publisher</a></p>
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<td style="vertical-align:top">
<p>2017</p>
</td>
<td style="vertical-align:top">
<p class="tight">Y. Demitri, S. Verling, <u>T. Stastny</u>, A. Melzer, and R. Siegwart. "<b>Model-based Wind Estimation for a Hovering VTOL Tailsitter UAV</b>". <em>IEEE International Conference on Robotics and Automation (ICRA)</em>. | <a href="https://ieeexplore.ieee.org/document/7989455" target="_blank">publisher</a></p>
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<td style="vertical-align:top">
<p>2017</p>
</td>
<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u>, A. Dash, and R. Siegwart. "<b>Nonlinear MPC for Fixed-wing UAV Trajectory Tracking: Implementation and Flight Experiments</b>". <em>AIAA Guidance, Navigation, and Control (GNC) Conference</em>. | <a href="https://arc.aiaa.org/doi/10.2514/6.2017-1512" target="_blank">publisher</a></p>
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<p>2016</p>
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<td style="vertical-align:top">
<p class="tight">P. Oettershagen, A. Melzer, T. Mantel, K. Rudin, <u>T. Stastny</u>, B. Wawrzacz, T. Hinzmann, K. Alexis, and R. Siegwart. "<b>Perpetual Flight with a Small Solar-powered UAV: Flight Results, Performance Analysis and Model Validation</b>". <em>IEEE Aerospace Conference</em>. | <a href="https://ieeexplore.ieee.org/document/7500855" target="_blank">publisher</a></p>
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<td style="vertical-align:top">
<p>2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">T. Hinzmann, <u>T. Stastny</u>, G. Conte, P. Doherty, P. Rudol, M. Wzorek, I. Gilitschenski, E. Galceran, and R. Siegwart. "<b>Collaborative 3D Reconstruction Using Heterogeneous UAVs: System and Experiments</b>". <em>International Symposium on Experimental Robotics (ISER)</em>. | <a href="https://link.springer.com/chapter/10.1007/978-3-319-50115-4_5" target="_blank">publisher</a></p>
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<td style="vertical-align:top">
<p>2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">P. Doherty, J. Kvarnström, P. Rudol, M. Wzorek, G. Conte, C. Berger, T. Hinzmann, and <u>T. Stastny</u>. "<b>Collaborative Framework for 3D Mapping Using Unmanned Aerial Vehicles</b>". <em>International Conference on Principles and Practice of Multi-Agent Systems</em>. | <a href="https://link.springer.com/chapter/10.1007/978-3-319-44832-9_7" target="_blank">publisher</a></p>
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<td style="vertical-align:top">
<p>2015</p>
</td>
<td style="vertical-align:top">
<p class="tight">P. Oettershagen, <u>T. Stastny</u>, T. Mantel, A. Melzer, K. Rudin, P. Gohl, G. Agamennoni, K. Alexis, and R. Siegwart. "<b>Long-Endurance Sensing and Mapping using a Hand-Launchable Solar-Powered UAV</b>". <em>Field and Service Robotics (FSR)</em>. | <a href="http://fsr.utias.utoronto.ca/submissions/FSR_2015_submission_49.pdf" target="_blank"><i class="fa fa-file-pdf-o"></i> pdf</a></p>
</td>
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<td style="vertical-align:top">
<p>2015</p>
</td>
<td style="vertical-align:top">
<p class="tight">A. Vempati, G. Agamennoni, <u>T. Stastny</u>, and R. Siegwart. "<b>Victim Detection from a Fixed-Wing UAV: Experimental Results</b>". <em>International Symposium on Visual Computing (ISVC)</em>. | <a href="https://link.springer.com/chapter/10.1007/978-3-319-27857-5_39" target="_blank">publisher</a></p>
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<tr id="paper-MPF2">
<td style="vertical-align:top">
<p>2015</p>
</td>
<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u>, G. Garcia, and S. Keshmiri. "<b>Robust Three-Dimensional Collision Avoidance for Fixed-Wing Unmanned Aerial Systems</b>". <em>AIAA Guidance, Navigation, and Control (GNC) Conference</em>. | <a href="https://arc.aiaa.org/doi/abs/10.2514/6.2015-1988" target="_blank">publisher</a> | <a href="vid/Robust3D-1.webm" target="_blank"><i class="fa fa-film"></i> video</a></p>
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<td style="vertical-align:top">
<p>2013</p>
</td>
<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u>, R. Lykins, and S. Keshmiri. "<b>Nonlinear Parameter Estimation of Unmanned Aerial Vehicles in Wind Shear Using Artificial Neural Networks</b>". <em>AIAA Guidance, Navigation, and Control (GNC) Conference</em>. | <a href="https://arc.aiaa.org/doi/abs/10.2514/6.2013-4768" target="_blank">publisher</a></p>
</td>
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<tr>
<td style="vertical-align:top">
<p>2012</p>
</td>
<td style="vertical-align:top">
<p class="tight">J. Sebes, W. Vanskike, M. Williams, S. McCandless, <u>T. Stastny</u>, G. Worden, N. Brunkhorst. "<b>Flight Testing and Evaluation of the Structural Response to Flight Loads of a Small Scale Unmanned Aerial System</b>". <em>AIAA Infotech@ Aerospace</em>. | <a href="https://arc.aiaa.org/doi/10.2514/6.2012-2498" target="_blank">publisher</a></p>
</td>
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<td style="vertical-align:top">
<p>2011</p>
</td>
<td style="vertical-align:top">
<p class="tight">W. Vanskike, M. Williams,<u>T. Stastny</u>, A. Ghate, S. McCandless, and T. Peckman. "<b>Hawkeye UAV Dynamic Analysis</b>". <em>AIAA Modeling and Simulation Technologies Conference</em>. | <a href="https://arc.aiaa.org/doi/10.2514/6.2011-6520" target="_blank">publisher</a></p>
</td>
</tr>
</table>
<!-- MAGAZINE ARTICLES -->
<hr />
<h4>Magazine Articles</h4>
<table class="table-margin" style="width:100%;"><col style="width:50px;"><col>
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<tr>
<td style="vertical-align:top">
<p>2013</p>
</td>
<td style="vertical-align:top">
<p class="tight"><u>T. Stastny</u>. "<b>Mars Exploration? Unleash the Swarms!</b>". <em>Ruimtevaart, Netherlands Space Society (NVR)</em>. | <a href="https://www.ruimtevaart-nvr.nl/wp-content/uploads/nvr_2013_1.pdf" target="_blank"><i class="fa fa-file-pdf-o"></i> pdf</a></p>
</td>
</tr>
</table>
<!-- PATENTS -->
<hr />
<h4>Patents</h4>
<table class="table-margin" style="width:100%;"><col style="width:50px;"><col>
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<tr id="patent-vertigo">
<td style="vertical-align:top">
<p>2013</p>
</td>
<td style="vertical-align:top">
<p class="tight">M. Arigoni, R. Simpson, S. Fuhrer, P. Beardsley, D. Mammolo, M. Burri, M. Bischoff, <u>T. Stastny</u>, L. Rodgers, D. Krummenacher, and
R. Siegwart. "<b>Vehicles Configured For Navigating Surface Transitions</b>". <em>US Patent 10,464,620</em>.</p>
</td>
</tr>
</table>
</div>
</div>
</section>
<section id="teach" class="bg-light">
<div class="container">
<div class="row">
<div class="col-lg-8 mx-auto">
<h2><i class="fa fa-graduation-cap fa-1x"></i> Teaching & Mentorship</h2>
<p class="tight"><a class="js-scroll-trigger" href="#teach-proj">Focus Projects</a> | <a class="js-scroll-trigger" href="#teach-theses">Student Theses</a> | <a class="js-scroll-trigger" href="#teach-lectures">Lectures</a></p>
<hr />
<h3 style="text-align:left" id="teach-proj">Focus Projects</h3>
<!-- Next entry -->
<hr />
<h4>Dipper: Aerial-Aquatic Swept-Wing UAV</h4>
<p class="tight">I coached a team of very talented Bachelors students in the year-long development of a flying, diving, swimming, and re-emerging, swept-wing aerial robot (more info <a href="https://dipper.ethz.ch/" target="_blank">here</a>). Several of the team members further expanded on this work enabling us to publish a paper on variable sweep attitude control, see <a class="js-scroll-trigger" href="#paper-varsweep">paper</a>.</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/q_9tSHTW1xE" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
<!-- Next entry -->
<hr />
<h4>VertiGo: Wall-Riding Robot</h4>
<p class="tight">I supervised two Bachelors students on the maneuver design, control, and estimation for the floor-to-wall transition of the VertiGo robot (more info <a href="https://www.vertigoproject.ch/index.php" target="_blank">here</a>). See resulting <a class="js-scroll-trigger" href="#patent-vertigo">patent</a>.</p>
<div class="video-container"><iframe class="video" src="https://www.youtube.com/embed/KRYT2kYbgo4" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div>
<hr />
<h3 style="text-align:left" id="teach-theses">Supervised Student Theses, ETH Zürich</h3>
<!-- Master Theses / / / / / / / / / / / / / / / / / /-->
<hr />
<h4>Masters Theses</h4>
<table class="table-margin" style="width:100%;"><col style="width:120px; text-align:right;"><col>
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<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2020</p>
</td>
<td style="vertical-align:top">
<p class="tight">Gian Heinrich. "<b>Learning to Stall: Using in-air Pressure Data to Identify, Characterize, and Control Fixed-Wing Aircraft Stall</b>".
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Dario Panzuto. "<b>Development of a Drone-Released GPS Logging Unit for In Situ Monitoring of Fast-Flowing Glaciers</b>".
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Michael Imobersteg. "<b>Autonomous Retraction Control of Rigid Wing Airborne Wind Energy Systems</b>".
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Adrian Ruckli. "<b>A Deep Learning-Based Approach to Flexible-Wing Modeling for Wide-Baseline Stereo Vision on Fixed-Wing Unmanned Aerial Vehicles</b>".
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">David Rohr. "<b>Tiltwing VTOL Flight-Control System</b>". <a href="#paper-tiltwing"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">Manuel Dangel. "<b>Nonlinear Model Predictive Control for Fixed-Wing Airborne Wind Energy</b>". <a href="#paper-awe"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">Silvan Fuhrer. "<b>Fault-Tolerant Flight Control of a VTOL Tailsitter UAV</b>". <a href="#paper-fuhrer2019"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">Daniel Hentzen. "<b>Robust Precision Landing for Multirotor UAS</b>". <a href="#paper-hentzen2019"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">Matthias Epprecht. "<b>Bayesian Optimization Based Automatic Controller Tuning for Fixed-Wing UAVs</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">Fabian Bachmann. "<b>Airflow Sensing and Control for Small Fixed-Wing UAVs</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2017</p>
</td>
<td style="vertical-align:top">
<p class="tight">Adyasha Dash. "<b>Magnetometer Error Sources and Mitigation for Small UAVs</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2017</p>
</td>
<td style="vertical-align:top">
<p class="tight">Danylo Malyuta. "<b>Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy</b>". <a href="#paper-malyuta2020"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2017</p>
</td>
<td style="vertical-align:top">
<p class="tight">Jongseok Lee. "<b>Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms</b>". <a href="#paper-lee2018"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2017</p>
</td>
<td style="vertical-align:top">
<p class="tight">Carl Olsson. "<b>Full Envelope System Identification of a VTOL Tailsitter UAV</b>". <a href="#paper-olsson2021"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Youssef Demitri. "<b>Robust Operation of a Hovering VTOL Tailsitter UAV in Wind</b>".
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Luca Furieri. "<b>Geometric Versus Model Predictive Control Based Guidance Algorithms for Fixed-Wing UAVs in the Presence of Very Strong Wind Fields</b>". <a href="#paper-furieri2017"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Pavel Verchersky. "<b>Development of a Comprehensive, Hardware-in-the-loop Simulation Environment for Fixed-wing Unmanned Aircraft</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Nicolas El Hayek. "<b>Ridge Lift Exploitation for Small Unmanned Fixed-Wing Aircraft</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2015</p>
</td>
<td style="vertical-align:top">
<p class="tight">Felix Renaut. "<b>Vision-Based Autonomous Landing Site Detection for Fixed-Wing Unmanned Aerial Vehicles</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2014</p>
</td>
<td style="vertical-align:top">
<p class="tight">Markus Thurnherr. "<b>Model Predictive Control for Fixed-Wing UAVs Using LPV-Models</b>".</p>
</td>
</tr>
</table>
<!-- Semester Projects / / / / / / / / / / / / / / / / / /-->
<hr />
<h4>Masters Semester Projects</h4>
<table class="table-margin" style="width:100%;"><col style="width:120px; text-align:right;"><col>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2020</p>
</td>
<td style="vertical-align:top">
<p class="tight">Marco Job. "<b>Analysis of Dynamic Landing Control for VTOL Tailsitters</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2020</p>
</td>
<td style="vertical-align:top">
<p class="tight">Lukas Spirig. "<b>Study on True Airspeed Measurement Using Acoustic Whistles</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2020</p>
</td>
<td style="vertical-align:top">
<p class="tight">Ramon Flammer. "<b>Analysis of the Aerodynamic Effects on Coaxial Rotor Configurations</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2020</p>
</td>
<td style="vertical-align:top">
<p class="tight">Matthias Studiger. "<b>Model Predictive Longitudinal Cruise Control of a VTOL Tilt-Wing UAV</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Gian Heinrich. "<b>Optimizing Deep-stall Landing Maneuvers on Small Fixed-wing UAVs</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Cla Galliard. "<b>Nonlinear Total Energy Control System for Longitudinal Control of an Aircraft</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Eloi Roset. "<b>Wing Pressure Distribution Measurement for Small Fixed-Wing UAVs</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2019</p>
</td>
<td style="vertical-align:top">
<p class="tight">Marko Maljkovic. "<b>Online Neural Network Based Model Identification of a Fixed-Wing UAV</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Autumn 2018</p>
</td>
<td style="vertical-align:top">
<p class="tight">Jasmin Fischli. "<b>Online Neural Network Based System Identification for Fixed-wing UAVs</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2017</p>
</td>
<td style="vertical-align:top">
<p class="tight">Silvan Fuhrer. "<b>Sampling Based Motion Planning for Fixed-Wing UAV System Identification</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Youssef Demitri. "<b>Wind Estimation for a Hovering VTOL Tailsitter UAV</b>". <a href="#paper-demitri2017"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Léonard Schai. "<b>Design, Manufacturing and Calibration of a Miniature Vector Probe for Small, Low Speed, Unmanned Aircraft</b>".</p>
</td>
</tr>
<!-- Next entry -->
<tr>
<td style="vertical-align:top">
<p class="thesisdate">Spring 2016</p>
</td>
<td style="vertical-align:top">
<p class="tight">Adyasha Dash. "<b>High Level Predictive Control of Fixed-Wing UAVs using Low Order System Models</b>". <a href="#paper-NMPC1"><i class="fa fa-book fa-1x"></i> publication</a>
</td>
</tr>