Publications

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2026
2025
2024
2023 & earlier

Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform

J. Stephenson and M. Greeff

IFAC World Congress, 2026

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Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control

B. Akbari, J. Frank, and M. Greeff

Mechatronics, Volume 115, April 2026, 103452.

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A Case Study in Recovery of Drones using Discrete-Event Systems

L. P. Burns, D. M. Cavalcanti, F. G. Cabral, M. H. de Queiroz, M. Greeff, P. M. M. Lima, and K. Rudie

IEEE Workshop on Discrete Event Systems (WODES), 2026. Nominated for Best Student Paper.

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Physics-Constrained Denoising Autoencoders for Data-Scarce Wildfire UAV Sensing

A. Ramadan, Z. Dorbeigi Namaghi, E. Taylor, L. Edwards, X. Giuliani, D. S. McLagan, S. Givigi, and M. Greeff

IEEE International Systems Conference (SysCon), 2026

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Lights Out: A Nighttime UAV Localization Framework Using Thermal Imagery and Semantic 3D Maps

R. Allen and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems (ICUAS), 2026

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A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms

T. Nordholt and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems (ICUAS), 2026

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Anisotropic Template Ansatze for Robust Positive Invariance under State-Dependent Uncertainty

A. Ramadan, M. Greeff, and S. Givigi

IEEE Control Systems Letters (L-CSS), 2026

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Multi-Site and Multi-Platform Field-Testing of Virtual Teach and Repeat for Zero-Shot UGV Navigation

D. Fisker, A. Beca, S. Ma, A. Krawciw, S. Lilge, J. Collier, M. Greeff, and T. D. Barfoot

IEEE Transactions on Field Robotics (T-FR), 2026, Submitted.

CUDA MPC: A GPU-Native Solver for Model Predictive Control

B. Akbari and M. Greeff

IEEE Robotics and Automation Letters (RA-L), 2026, Submitted.

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Benchmarking Model Predictive Control Strategies for Multirotor Landing on a Dynamically Tilting Platform

J. Stephenson and M. Greeff

IEEE International Conference Robotics and Automation (ICRA) Workshop on 25 Years of Aerial Robotics: Challenges and Opportunities, 2025

Towards Underwater Detection of Diluted Bitumen with Interdigital Sensors

G. Bedenik, M. Greeff and M. Robertson

IEEE International Symposium on Instrumentation Systems, Circuits, and Transducers (INSCIT), 2025

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Cold Region Building Inspection using UAV-based Three-dimensional Reconstruction

N. Chodura, D. Boase, J. Woods, and M. Greeff

Uncrewed Aerial Vehicles in Geomatics (UAV-g), 2025

UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat

D. Fisker, A. Krawciw, S. Lilge, M. Greeff, and T. D. Barfoot

IEEE International Conference on Intelligent Robots and Systems (IROS), 2025

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Evaluation of Flight Parameters in UAV-based 3D Reconstruction for Rooftop Infrastructure Assessment

N. Chodura, M. Greeff, J. Woods

International Symposium on Automation and Robotics in Construction (ISARC), 2025

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Bistable SMA-driven Engine for Pulse-jet Locomotion in Soft Aquatic Robots

G. Bedenik, A. Morales, S. Pieris, B. da Silva, J. W. Kurelek, M. Greeff, M. Robertson

IEEE RoboSoft, 2025

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A Time and Place to Land: Online Learning-Based Distributed MPC for Multirotor Landing on Surface Vessel in Waves

J. Stephenson, W. S. Stewart, and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems, 2025. Best Paper Award.

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Distributed Model Predictive Control for Cooperative Multirotor Landing on Uncrewed Surface Vessel in Waves

J. Stephenson, N. T. Duncan, and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems, 2024

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A Computationally Efficient Learning-Based Model Predictive Control for Multirotors under Aerodynamic Disturbances

B. Akbari and M. Greeff

IEEE International Conference on Unmanned Aircraft Systems, 2024

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Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter

A. W. Hall, M. Greeff, and A. P. Schoellig

IEEE Control Systems Letters, 2023

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safe-control-gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics

Z. Yuan, A. W. Hall, S. Zhou, L. Brunke, M. Greeff, J. Panerati, and A. P. Schoellig

IEEE Robotics and Automation Letters, 2022

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Fly out the window: exploiting discrete-time flatness for fast vision-based multirotor flight

M. Greeff, S. Zhou, and A. P. Schoellig

IEEE Robotics and Automation Letters, 2022

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Safe learning in robotics: from learning-based control to safe reinforcement learning

L. Brunke, M. Greeff, A. W. Hall, Z. Yuan, S. Zhou, J. Panerati, and A. P. Schoellig

Annual Review of Control, Robotics, and Autonomous Systems, vol. 5, iss. 1, 2022.

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Exploiting differential flatness for robust learning-based tracking control using Gaussian processes

M. Greeff and A. P. Schoellig

IEEE Control Systems Letters, vol. 5, iss. 4, pp. 1121–1126, 2021.

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Learning a stability filter for uncertain differentially flat systems using Gaussian processes

M. Greeff, A. W. Hall, and A. P. Schoellig

Proc. of the IEEE Conference on Decision and Control (CDC), 2021, pp. 789-794.

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A perception-aware flatness-based model predictive controller for fast vision-based multirotor flight

M. Greeff, T. D. Barfoot, and A. P. Schoellig

Proc. of the International Federation of Automatic Control (IFAC) World Congress, 2020, p. 9412–9419.

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There’s no place like home: visual teach and repeat for emergency return of multirotor UAVs during GPS failure

M. Warren, M. Greeff, B. Patel, J. Collier, A. P. Schoellig, and T. D. Barfoot

IEEE Robotics and Automation Letters, vol. 4, iss. 1, p. 161–168, 2019.

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Flatness-based model predictive control for quadrotor trajectory tracking

M. Greeff and A. P. Schoellig

Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, p. 6740–6745.

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Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform

Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control

A Case Study in Recovery of Drones using Discrete-Event Systems

Physics-Constrained Denoising Autoencoders for Data-Scarce Wildfire UAV Sensing

Lights Out: A Nighttime UAV Localization Framework Using Thermal Imagery and Semantic 3D Maps

A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms

Anisotropic Template Ansatze for Robust Positive Invariance under State-Dependent Uncertainty

Multi-Site and Multi-Platform Field-Testing of Virtual Teach and Repeat for Zero-Shot UGV Navigation

CUDA MPC: A GPU-Native Solver for Model Predictive Control

Benchmarking Model Predictive Control Strategies for Multirotor Landing on a Dynamically Tilting Platform

Towards Underwater Detection of Diluted Bitumen with Interdigital Sensors

Cold Region Building Inspection using UAV-based Three-dimensional Reconstruction

UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat

Evaluation of Flight Parameters in UAV-based 3D Reconstruction for Rooftop Infrastructure Assessment

Bistable SMA-driven Engine for Pulse-jet Locomotion in Soft Aquatic Robots

A Time and Place to Land: Online Learning-Based Distributed MPC for Multirotor Landing on Surface Vessel in Waves

Distributed Model Predictive Control for Cooperative Multirotor Landing on Uncrewed Surface Vessel in Waves

A Computationally Efficient Learning-Based Model Predictive Control for Multirotors under Aerodynamic Disturbances

Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter

safe-control-gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics

Fly out the window: exploiting discrete-time flatness for fast vision-based multirotor flight

Safe learning in robotics: from learning-based control to safe reinforcement learning

Exploiting differential flatness for robust learning-based tracking control using Gaussian processes

Learning a stability filter for uncertain differentially flat systems using Gaussian processes

A perception-aware flatness-based model predictive controller for fast vision-based multirotor flight

There’s no place like home: visual teach and repeat for emergency return of multirotor UAVs during GPS failure

Flatness-based model predictive control for quadrotor trajectory tracking

Robora

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