Ezra Tal

Ezra Tal

Research Scientist at MIT, working on planning and control for fast and highly-maneuverable robots.

Publications

Pre-print

  1. Tal, E., Ryou, G., Karaman, S., Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness Video, PDF
  2. Guerra, W., Tal, E., Murali, V., Ryou, G., Karaman, S., FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation Video, PDF, Website, GitHub

Journal

  1. Tal, E., Karaman, S., Global Incremental Flight Control for Agile Maneuvering of a Tailsitter Flying Wing, AIAA Journal of Guidance, Control, and Dynamics, October 2022 Video, PDF
  2. Ryou, G., Tal, E., Karaman, S., Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers, The International Journal of Robotics Research (IJRR), July 2021 Video, PDF, GitHub
  3. Tal, E., Karaman, S., Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness, IEEE Transactions on Control Systems Technology, vol. 29, no. 3, pp. 1203-1218, May 2021 Video, PDF

Conference

  1. Tripathi, V.*, Kadota, I.*, Tal, E.*, Rahman, S., Warren, A., Karaman, S., Modiano, E., WiSwarm: Wireless Networking for Monitoring and Control Using a Heterogeneous Swarm of UAVs, IEEE Conference on Computer Communications (INFOCOM), May 2023 Video, PDF
  2. Ryou, G., Tal, E., Karaman, S., Real-Time Generation of Time-Optimal Quadrotor Trajectories with Semi-Supervised Seq2Seq Learning, Conference on Robot Learning (CoRL), December 2022
  3. Tal, E., Ryou, G., Karaman, S., Trajectory Generation and Tracking for an Agile Fixed-Wing VTOL Aircraft, Workshop on Agile Robotics: Perception, Learning, Planning, and Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2022 PDF
  4. Ryou, G., Tal, E., Karaman, S., Cooperative Multi-Agent Trajectory Generation with Modular Bayesian Optimization, Robotics: Science and Systems (RSS), July 2022 Video, PDF
  5. Tal, E., Karaman, S., Global Trajectory-tracking Control for a Tailsitter Flying Wing in Agile Uncoordinated Flight, AIAA Aviation Forum, August 2021 Awarded Best Student Paper in V/STOL Aircraft Systems Video, PDF
  6. Biberstein, J., Tal, E., Karaman, S., Thrust Vectoring of Small-scale Solid Rocket Motors Using Additively Manufactured Jet Vanes, AIAA Propulsion and Energy Forum, August 2021 PDF
  7. Lao Beyer, L., Balabanska, N., Tal, E., Karaman, S., Multi-Modal Motion Planning Using Composite Pose Graph Optimization, IEEE International Conference on Robotics and Automation (ICRA), June 2021 Video, PDF
  8. Ryou, G., Tal, E., Karaman, S., Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers, Robotics: Science and Systems (RSS), July 2020 Finalist Best Student Paper Video, PDF
  9. Bronz, M., Tal, E., Federico, F., Karaman, S., Mission-Oriented Additive Manufacturing of Modular Mini-UAVs, AIAA Science and Technology Forum, January 2020 Awarded Best in Session PDF
  10. Guerra, W., Tal, E., Murali, V., Ryou, G., Karaman, S., FlightGoggles: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019 Video, PDF, Website, GitHub
  11. Tal, E., Karaman, S., Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness, IEEE Conference on Decision and Control (CDC), December 2018 Video, PDF
  12. Arneberg, J.*, Tal, E.*, Karaman, S., Guidance Laws for Partially-Observable Interception Based on Linear Covariance Analysis, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018 *Equal contributions Video, PDF
  13. Tal, E., Gorodetsky, A., Karaman, S., Continuous tensor train-based dynamic programming for high-dimensional zero-sum differential games, American Control Conference (ACC), June 2018 PDF
  14. Sayre-McCord, T., Guerra, W., Antonini, A., Arneberg, J., Brown, A., Cavalheiro, G., Fang, Y., Gorodetsky, A., McCoy, D., Quilter, S., Riether, F., Tal, E., Terzioglu, Y., Carlone, L., Karaman, S., Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop, IEEE International Conference on Robotics and Automation (ICRA), May 2018 Video, PDF
  15. Tal, E., Nguyen, N., Unsteady Aeroservoelastic Modeling of Flexible Wing Generic Transport Aircraft with Variable Camber Continuous Trailing Edge Flap, 33rd AIAA Applied Aerodynamics Conference (AIAA Aviation Forum), June 2015 PDF
  16. Tal, E., Shima, T., Differential Games Based Autonomous Rendezvous for Aerial Refueling, 3rd CEAS Specialist Conference on Guidance, Navigation and Control (EuroGNC), April 2015 PDF
  17. Tal, E., Shima, T., Linear Quadratic Differential Games Guidance Law for Autonomous Aerial Refueling, 55th Israel Annual Conference on Aerospace Sciences, February 2015
  18. Tal, E., Nguyen, N., Ting, E., Comparison of Unsteady Aerodynamics Approximations for Time-Domain Representation of Frequency-Independent Aeroelastic State-Space Models, 56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference (AIAA Science and Technology Forum), January 2015 PDF
  19. Nguyen, N., Tal, E., A Multi-Objective Flight Control Approach for Performance Adaptive Aeroelastic Wing, 56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference (AIAA Science and Technology Forum), January 2015 PDF

Book Chapter

  1. Tal, E., Shima, T., Differential Games Based Autonomous Rendezvous for Aerial Refueling, Advances in Guidance, Navigation and Control, pp. 167 - 185, edited by Bordeneuve-Guibe, J., Drouin, A., Roos, C., Springer International, Switzerland, 2015 PDF
  2. Blume, S., Dhert, T., Eiche, E., Hofstede E. ter, Hollander, B., Huber, S., Tal, E., Vanoverbeke, K., Zheng, Z., The Aircraft Noise Monitoring System, Delft Aerospace Design Projects, pp. 275 - 286, edited by Melkert, J., Het Goede Boek, Huizen, 2012

Thesis

  1. Tal, E., Algorithms for Generation and Tracking of Fast and Agile Flight Trajectories, PhD Thesis, Aeronautics and Astronautics, MIT, 2021 Repository
  2. Tal, E., Coupled Flight Dynamic and Unsteady Aeroservoelastic Modeling and Control of a Flexible Wing Aircraft, MSc Thesis, Aerospace Engineering, TU Delft, 2015 Repository