Author

S. Doodeman

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Preprint Sep 2026

Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform

Landing a multirotor Unmanned Aerial Vehicle (UAV) on a moving platform is challenging because a UAV is underactuated and the desired landing state is generally a non-equilibrium state. Shrinking- and variable-horizon approaches are promising for reaching such non-equilibrium targets, but often lack robustness to distu...

S. Doodeman, Niels Berkers, P. Chanfreut et al. · 0 citations

Preprint Sep 2026

Semantic SLAM in Precision Agriculture using Bayesian Inference

This paper presents a real-time semantic world modeling framework specialized for precision agriculture using autonomous robots. The framework combines probabilistic mapping of objects and their semantic attributes, updated through Bayesian inference, with a graph-based Simultaneous Localization and Mapping (SLAM) appr...

R. Beumer, S. Doodeman, R. van de Molengraft et al. · 0 citations