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Alex Spitzer

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I'm a Ph.D. student at Carnegie Mellon University advised by Nathan Michael and working with RISLAB in the Robotics Institute. Prior, I graduated with a double major in Computer Science (CS) and Electrical and Computer Engineering (ECE) from Cornell University, where I led the software team of CUAUV. My work explores dynamical model learning for quadrotors to enable agile and accurate flight.

Contact me at my last name (lowercase) at cmu dot edu.

Quadrotor Simulation

Thesis

Dynamical Model Learning and Inversion for Aggressive Quadrotor Flight
PDF Talk Bibtex
High-speed trajectories flown outdoors from Alex Spitzer's thesis

Papers

Feedback Linearization for Quadrotors with a Learned Acceleration Error Model
Alexander Spitzer, Nathan Michael
Presented at the IEEE International Conference on Robotics and Automation (ICRA) 2021.
PDF Bibtex
System overview diagram of our ICRA 2021 paper

Rotational Error Metrics for Quadrotor Control
Alexander Spitzer, Nathan Michael
Presented at Perception, Learning, and Control for Autonomous Agile Vehicles (IROS 2020 Workshop, Best Workshop Paper Award).
PDF Talk Supplement Bibtex
Quadrotor attitude control diagram from our IROS 2020 workshop paper

Inverting Learned Dynamics Models for Aggressive Multirotor Control
Alexander Spitzer, Nathan Michael
Presented at Robotics: Science and Systems (RSS) 2019.
PDF Poster Video Talk Bibtex
Circle trajectory from our RSS 2019 paper

Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor
Alexander Spitzer*, Xuning Yang*, John Yao, Aditya Dhawale, Kshitij Goel, Mosam Dabhi, Matt Collins, Curtis Boirum, Nathan Michael
Presented at the International Symposium on Experimental Robotics (ISER) 2018.
PDF Video Bibtex
Collision avoidance from our ISER 2018 paper

Leveraging experience for robust, adaptive nonlinear MPC on computationally constrained systems with time-varying state uncertainty
Vishnu R. Desaraju, Alexander Spitzer, Cormac O'Meadhra, Lauren Lieu, Nathan Michael
In The International Journal of Robotics Research, Vol. 37, Issue 13-14, 2018.
PDF Bibtex
Circle trajectory from our 2018 IJRR paper

Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty
Vishnu R. Desaraju, Alexander Spitzer, Nathan Michael
Presented at Robotics: Science and Systems (RSS) 2017.
PDF Bibtex
System diagram from our 2017 RSS paper

BalanceBot: A Self-Balancing Two-Wheeled Robot
Alex Spitzer, Leo Mehr
In Circuit Cellar, Issue 316, pp. 24-31, Nov. 2016.
BalanceBot robot from our 2016 Circuit Cellar article

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