Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs Events

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on external sensors, such as GPS or motion capture systems, for state estimation. To the best of our knowledge, this has not yet been achieved with only onboard sensors. In this work, we propose the first algorithm that combines fault-tolerant control and onboard vision-based s