Publications

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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

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.

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.

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.

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.

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.

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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