Lupashin, Sergei, Dr.

ETH Zürich Dr. Sergei Lupashin Inst. Dynam. Syst. u. Regelungst. ML K 36.2 Sonneggstrasse 3 8092 Zuerich Phone: +41 44 632 06 08 E-Mail:

whoami

I am a PhD student at ETH Zurich working on aerial robotics, under the direction of Prof. Raffaello D'Andrea. I am a chief architect of the Flying Machine Arena.

• Youtube: UntitledTitle
• Twitter: @UntitledTitles
• Vimeo (older vids): BullDozers

• Prehistory - classical piano, programming competitions
• 2003-2005 - RoboCup Small-Size League - Cornell Big Red - Machine Vision, Goalie AI, CS infrastructure. Overly dramatic 2003 final.
• 2005 - DARPA Grand Challenge - Team Cornell - machine vision, LIDAR, other sensors, high-velocity path-planning. A bunch of early-20s guys with really big RC cars in the Mojave desert
• 2006 - B.S. In Electrical and Computer Engineering from Cornell
• 2006 - Engineer at NextGen Aeronautics - SBIRs/STTRs in novel sensors, FEM, EA structure optimization
• 2007 - DARPA Urban Challenge - Team Cornell - LIDAR clustering, actuation, infrastructure. A handful of slightly-older guys playing with more big RC cars in upstate NY / Mojave
• 2010 - M.S. in Mechanical Engineering - ETH Zürich - Thesis Topic: Adaptive Fast Flips for Quadrocopters
• 2010 - Roof of the World Rally (Switzerland to Tajikistan), team 'Blue Skies' with Rahel Strässle
• 2012 - Burning Man 2012, ReAllocate, advisor. Dusty multicopters.
• Now - Ph.D. candidate in Mechanical Engineering at ETH Zürich. Advisor: Raffaello D'Andrea.

Media

Advising

• 2009 Fall, Lorenz Meier, Semester Project, Low-Latency Wireless Communication
• 2010 Spring, Oliver Scheuss, Semester Project, Brushless Motor Controller Firmware for the FMA
• 2010 Fall, Armin Ambühl, Studies on Mechatronics, Miniature Hover-Capable Air Vehicles
• 2010 Fall, Mark Müller, Master Thesis, Quadrocopter Ball Juggling Video
• 2010 Fall, Flavio Fontana, Semester Project, High-Performance Mini-Quadrocopter
• 2011 Spring, Armin Ambühl, Bachelor Thesis, Human Interaction with a Quadrocopter using a Kinect Sensor Video
• 2011 Spring, Thomas Kägi, SoM + Bachelor Thesis, Taming Li-Po Batteries
• 2011 Fall, Tobias Meier, Studies on Mechatronics, Hovering, Extreme (factors affecting quadrocopter hover performance)
• 2011 Fall, Tobias Widmer, Studies on Mechatronics, GPUs for Estimation and Control
• 2012 Spring, Thomas Kägi, Semester Project, Design and Control of a Tiltrotor Quadrotor
• 2012 Spring, Michael Moser, Semester Project, Control of a Quadrocopter by Shifting Mass
• 2012 Spring, Christoph Kammer, Semester Project, Vision-Based Localization using Landmarks for Quadrocopters

Publications (DBLP,Google Scholar)

• Sergei Lupashin, Raffaello D'Andrea: Adaptive fast open-loop maneuvers for quadrocopters. In Autonomous Robots 33 (1-2), pp 89-102
• Mark Müller, Sergei Lupashin, Raffaello D'Andrea: Quadrocopter Ball Juggling. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. Video. Appendix (pdf)
• Robit Ritz, Markus Hehn, Sergei Lupashin, Raffaello D'Andrea: Quadrotor Performance Benchmarking Using Optimal Control.IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
• Sergei Lupashin, Raffaello D'Andrea: Adaptive Open-Loop Aerobatic Maneuvers for Quadrocopters. IFAC World Congress, 2011.
• Angela Schöllig, Markus Hehn, Sergei Lupashin, Raffaello D'Andrea: Feasible Periodic Motion Primitives for Choreographed Quadrocopter Flight. American Control Conference, 2011.
• Sergei Lupashin, Angela Schöllig, Markus Hehn, Raffaello D'Andrea: The Flying Machine Arena as of 2010 (Video). IEEE International Conference on Robotics and Automation, 2011. Video
• Sergei Lupashin, Angela Schöllig, Michael Sherback, Raffaello D'Andrea: A simple learning strategy for high-speed quadrocopter multi-flips. IEEE International Conference on Robotics and Automation, 2010. PDF. Video.
• Angela Schöllig, Federico Augugliaro, Sergei Lupashin, Raffaello D'Andrea: Synchronizing the motion of a quadrocopter to music. IEEE International Conference on Robotics and Automation, 2010.
• Isaac Miller, Mark Campbell, Dan Huttenlocher, Frank-Robert Kline, Aaron Nathan, Sergei Lupashin, Jason Catlin, Brian Schimpf, Pete Moran, Noah Zych, Ephrahim Garcia, Mike Kurdziel, Hikaru Fujishima: Team Cornell's Skynet: Robust perception and planning in an urban environment. J. Field Robotics 25(8): 493-527, 2008.
• Akhilesh Hja, Sergei Lupashin, Adarsh Pun: Cost-Based Design Optimization of a Structure using a Genetic Algorithm. AIAA Structures, Structural Dynamics, and Materials Conference, 2007.
• Isaac Miller, Sergei Lupashin, Noah Zych, Pete Moran, Brian Schimpf, Aaron Nathan, Ephrahim Garcia: Cornell university's 2005 DARPA grand challenge entry. J. Field Robotics 23(8): 625-652, 2006.