Matthias Fässler

Matthias Fässler


MSc ETH Zürich

Robotics and Perception Group

Department of Informatics

University of Zurich

Email: faessler (at) ifi (dot) uzh (dot) ch

Office: Andreasstrasse 15, AND 2.16

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I am a Ph.D. student at the Robotics and Perception Group led by Prof. Davide Scaramuzza since December 2012. Currently, I am working on agile flight for vision-based quadrotors. I received my Bachelor's and my Master's degree in mechanical engineering from ETH Zürich in 2010 and 2012, respectively. During my studies at ETH, I was focusing on robotics and control.


How to Launch a Quadrotor


Aerial-guided Navigation of a Ground Robot among Movable Obstacles


Autonomous, Flying 3D Scanner


A Monocular Pose Estimation System based on Infrared LEDs




M. Faessler, D. Falanga, and D. Scaramuzza, Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight, IEEE Robotics and Automation Letters (RA-L), 2017. PDF (PDF, 1292 KB)BibTeX (BIB, 0 KB)Video


D. Falanga, E. Mueggler, M. Faessler, and D. Scaramuzza, Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing, Under review at the IEEE International Conference on Robotics and Automation (ICRA), 2017. PDF (PDF, 4942 KB)Video


A. Giusti, J. Guzzi, D.C. Ciresan, F. He, J.P. Rodriguez, F. Fontana, M. Faessler, C. Forster, J. Schmidhuber, G. Di Caro, D. Scaramuzza, and L.M. Gambardella, A Machine Learning Approach to Visual Perception of Forest Trails for Mobile Robots, IEEE Robotics and Automation Letters (RA-L), 2016. PDF (PDF, 4637 KB)BibTeX (BIB, 0 KB)Video


M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli and D. Scaramuzza, Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle, Journal of Field Robotics, 2016. PDF (PDF, 2438 KB)BibTeX (BIB, 0 KB)Video


M. Faessler, F. Fontana, C. Forster, and D. Scaramuzza, Automatic Re-Initialization and Failure Recovery for Aggressive Flight with a Monocular Vision-Based Quadrotor, Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015, Seattle. PDF (PDF, 633 KB)BibTeX (BIB, 0 KB)Video


C. Forster, M. Faessler, F. Fontana, M. Werlberger, and D. Scaramuzza, Continuous On-Board Monocular-Vision-based Elevation Mapping Applied to Autonomous Landing of Micro Aerial Vehicles, Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015, Seattle. PDF (PDF, 8076 KB)BibTeX (BIB, 0 KB)Video


E. Mueggler, M. Faessler, F. Fontana, and D. Scaramuzza, Aerial-guided Navigation of a Ground Robot among Movable Obstacles, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Toyako-cho, 2014. PDF (PDF, 791 KB)BibTeX (BIB, 0 KB)Video


M. Faessler, E. Mueggler, K. Schwabe, and D. Scaramuzza, A Monocular Pose Estimation System based on Infrared LEDs, Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014, Hong Kong. PDF (PDF, 1741 KB)BibTeX (BIB, 0 KB)Video



Supervised Student Projects

  • Kevin Egger (Semester Thesis - 2016).
    On-board Height Estimation for Quadrotors.
  • Raphael Meyer (Master Thesis - 2015).
    Design of a Custom Quadrotor Platform.
  • Igor Bozic (Master Project - 2015).
    High Frequency Position Controller for the KUKA youBot Arm.
  • Michael Gassner (Master Thesis - 2015).
    Aggressive Maneuvers with Quadrotors.
  • Astrid Schlestein (Master Thesis - 2014).
    System Identification and Model Based State Estimation for Quadrotors.
  • Maximilian Schulz (Semester Thesis - 2014).
    Robust Emergency Procedures for Quadrotors.
  • Adrian Rechy Romero (Semester Thesis - 2014).
    Self-Calibration for Quadrotors.
  • Raphael Meyer (Semester Thesis - 2014).
    Design of Custom Interface Electronics for Quadrotors.
  • Karl Schwabe (Master Thesis - 2013).
    A Monocular Pose Estimation System based on Infrared LEDs. PDF (PDF, 1741 KB)VideoCode
  • Benjamin Keiser (Master Thesis - 2013).
    Torque Control of a KUKA youBot Arm. PDF (PDF, 4092 KB) VideoCode

Master Thesis: Modeling, Control and Trajectory Tracking with a CoaX Helicopter


I accomplished my Master thesis as part of a ten month stay at the GRASP Lab at the University of Pennsylvania. There, I was working with Vijay Kumar on the modeling and control of small coaxial helicopters. Specifically, the project included the development of the framework that enables autonomous flight in a Vicon motion capture system using ROS (Robot Operating System) and Matlab. Then, I extended existing mathematical models in order to capture the helicopter's dynamics more accurately, especially in nonhover conditions. With the extended model, I designed a novel nonlinear controller, which allows following trajectories with large accelerations. Finally, I implemented a first approach of a method for generating smooth trajectories, which can also deal with obstacles in the flight path.

Semester Thesis: Estimation of Ball Coefficient of Restitution for the Blind Juggler

Robotic calligraphy

During my Master studies, I completed my semester thesis in Raffaello D'Andrea's research group at ETH Zurich. I worked with the Blind Juggler, which is a robot that can vertically juggle a ball without any sensing of the ball. My work involved the development of a measurement setup in order to identify parameters of the impact model. I then used the identified parameters to compute juggling paddle motions that allow aggressive changes of the juggling height while minimizing the required paddle stroke.