Research
A Tactile Feedback Approach to Path Recovery after High-Speed Impacts for Collision-Resilient Drones
Anton Bredenbeck, Teaya Yang, Salua Hamaza, Mark W. Mueller

MDPI Drones, December 2025: website / paper / video / github

A resource limited MAV uses binary tactile sensors to recover from high-speed collisions and adjust the a-priori planned path based on the collision location.
Embodying Compliant Touch in Aerial Manipulation for Blind Navigation
Anton Bredenbeck, Cosimo Della Santina, Salua Hamaza

IEEE Robotics and Automation Letters (RA-L), December 2024: website / paper / video / github

A MAV navigates in unknown environments using only contact information extracted from a compliant, finger-like interaction tool.
Tactile Odometry in Aerial Physical Interaction
Micha Schuster*, Anton Bredenbeck*, Michael Beitelschmidt, Salua Hamaza

International Conference on Intelligent Robots and Systems (IROS), October 2024: website / paper / video / github

Reconstructing MAV odometry from contact information using a trackball mounted on a compliant contact interface.
Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
Anton Bredenbeck, Shubham Vyas, Dorit Borrmann, Miguel Olivares-Mendez, Andreas Nüchter,

International Conference on Intelligent Robots and Systems (IROS), October 2022: paper / video

Optimal control of a free-floating platform for the simulation of micro-gravity environments at the Orbital Robotics Lab at the European Space Agency (ESA).

Other projects

EduBot: A ROS 2 library for education in robotic manipulation

GitHub
A small ROS 2 library that we use for teaching purposes at the Biomorphic Intelligence Lab. In particular, it covers the hardware interface to a motor control board as well as ROS 2 based interface and a RVIZ 2 based visualization.

Unified Optitrack Clients

GitHub co-maintained with Till Blaha
A unified C++ client for reading data from an OptiTrack motion capture system and publishing it in various formats. The implementation emphasizes minimalism, speed, and extensibility. It supports publishing data with applied rotations via UDP streams, ROS 2 topics, and PX4-compatible ROS 2 topics, among others.
Last updated: July 2024
Adapted from Sudharshan Suresh