NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Published by
Arxiv
Summary
other
Ioannis Mandralis
About
I am a PhD Candidate at the Center for Autonomous Systems and Technologies (CAST) at Caltech, where I primarily work with Professor Morteza Gharib, and Professor Richard M. Murray. I work on a broad range of topics all related to autonomy of robotic systems. My approach relies on using new tools from learning & control with an emphasis on applying them to hardware and bringing ideas to reality. I am currently working on aerial robots with non-trivial morphologies and a particular emphasis on showcasing multi-modal behaviours that enhance ground aerial locomotion. I am a recipient of the Onassis Foundation Scholarship. Before Caltech, I earned my Master Degree in Mechanical Engineering and Robotics from ETH Zurich in 2020 and a Bachelor Degree in Mechanical Engineering from EPFL in 2018. During my time at ETH Zurich, I was fortunate to work with Professor Petros Koumoutsakos on deep reinforcement learning for control of soft swimming bodies. I have also spent 6 months working as a Robotics Software Engineer at Anybotics (ETH Zürich spinoff) in Zurich. Here I developed novel parameter estimation algorithms to improve walking performance of the quadruped robot Anymal.
Work
California Institute of Technology
US
Education
California Institute of Technology
United States of America
PhD in Aeronautics
ETH Zürich
Switzerland
MSc in Mechanical Engineering
EPFL
Switzerland
BSc in Mechanical Engineering
Publications
ATMO: an aerially transforming morphobot for dynamic ground-aerial transition
Published by
Communications Engineering
Summary
journal-article
ATMO: an aerially transforming morphobot for dynamic ground-aerial transition
Published by
Communications Engineering
Summary
journal-article
Self-Supervised Cost of Transport Estimation for Multimodal Path Planning
Published by
IEEE Robotics and Automation Letters
Summary
journal-article
Self-supervised cost of transport estimation for multimodal path planning
Published by
IEEE Robotics and Automation Letters
Summary
journal-article
ATMO: An Aerially Transforming Morphobot for Dynamic Ground-Aerial Transition
Published by
Arxiv
Summary
other
How Strong a Kick Should be to Topple Northeastern's Tumbling Robot?
Published by
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM
Summary
conference-paper
Bounding Flight Control of Dynamic Morphing Wings
Published by
IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM
Summary
conference-paper
Data-Driven Modeling for On-Demand Flow Prescription in Fan-Array Wind Tunnels
Published by
Arxiv
Summary
other
Self-supervised cost of transport estimation for multimodal path planning
Published by
Arxiv
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other
Hovering Control of Flapping Wings in Tandem with Multi-Rotors
Published by
Arxiv
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other
Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot
Published by
IEEE International Conference on Intelligent Robots and Systems
Summary
conference-paper
Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot
Published by
Arxiv
Summary
other
Hovering Control of Flapping Wings in Tandem with Multi-Rotors
Published by
IEEE International Conference on Intelligent Robots and Systems
Summary
conference-paper
How Strong a Kick Should be to Topple Northeastern’s Tumbling Robot?
Published by
Arxiv
Summary
other
Minimum Time Trajectory Generation for Bounding Flight: Combining Posture Control and Thrust Vectoring
Published by
2023 European Control Conference Ecc 2023
Summary
conference-paper
Learning swimming escape patterns for larval fish under energy constraints
Published by
Physical Review Fluids
Summary
journal-article
Learning swimming escape patterns for larval fish under energy constraints
Published by
Physical Review Fluids
Summary
journal-article
Learning efficient navigation in vortical flow fields
Published by
Nature Communications
Summary
journal-article
Learning efficient navigation in vortical flow fields
Published by
Arxiv
Summary
other
Learning swimming escape patterns for larval fish under energy constraints
Published by
Arxiv
Summary
other