Izzet Kagan Erunsal



GR A2 465 (Batiment GR)
Station 2
CH-1015 Lausanne
Phone: +41 21 693 57 38
[email protected]

Short biography

I am currently a postdoctoral fellow at DISAL. I have recently finished my PhD in the EPFL-IST joint doctoral program, where I have developed a robust model predictive formation control approach for rotary-wing Micro Aerial Vehicles (MAVs). I was co-advised by Prof. Rodrigo Ventura from IST (Portugal). I received my MSc degree in Electrical and Electronics Engineering with a control systems option from Middle East Technical University (METU). My master thesis was related to the control and system identification of autonomous sea-surface vehicles. I obtained my BSc degree in Mechanical Engineering from METU. I also hold a minor degree in Mechatronics from the same university. Further information can be found here:

Research interests and projects

My research interests include aerial robotics, multi-robot systems, autonomy, optimal control and estimation strategies, and localization systems. I aim to deploy rotary-wing MAVs in real-world environments with a prescribed formation geometry so that they can perform high-level tasks optimally, robustly, and with high performance. I pay special attention to leveraging onboard resources for perception and computation. For additional information, please check here.

Teaching and service activities

I participate in teaching activities for Distributed Intelligent Systems (DIS) and Signals, Instruments, and Systems (SIS) courses given at DISAL.  I also supervise many master students for their semester and master’s projects.


A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations

I. K. Erünsal; R. Ventura; A. Martinoli 

2022-11-29. International Symposium on Distributed Autonomous Robotic Systems, Montbeliard, France, November 28-30, 2022. p. 156–172. DOI : 10.1007/978-3-031-51497-5_12.

Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study

I. K. Erünsal; J. Zheng; R. Ventura; A. Martinoli 

2022. THE 2022 IEEE/RSJ International Conference on, Kyoto, Japan, October 23-27, 2022. p. 12106-12113. DOI : 10.1109/IROS47612.2022.9981880.

Nonlinear Model Predictive Control for Formations of Multi-Rotor Micro Aerial Vehicles: An Experimental Approach

I. K. Erunsal; R. Ventura; A. Martinoli 

2021-03-28. 17th International Symposium on Experimental Robotics (ISER 2020), Floriana, Malta, November 15-18, 2021. p. 449-461. DOI : 10.1007/978-3-030-71151-1_40.

Decentralized Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing and Estimation

I. K. Erunsal; A. Martinoli; R. Ventura 

2019-11-14. 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), New Brunswick, NJ, USA, August 22-23, 2019. p. 176-178. DOI : 10.1109/MRS.2019.8901098.

An approach for system identification in unmanned surface vehicles

I. K. Erünsal; K. Ahiska; M. Kumru; M. K. Leblebicioglu 

2017-12-14. 17. International Conference on Control, Automation and Systems (ICCAS 2017)), Jeju, South Korea, 18-21 October 2017. DOI : 10.23919/ICCAS.2017.8204440.

A survey on tactical control algorithms for path tracking unmanned surface vehicles

M. Kumru; I. K. Erunsal; K. Ahiska; M. K. Leblebicioglu 

2017-02-02. International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand, 13-15 November 2016. DOI : 10.1109/ICARCV.2016.7838568.