Wissenschaftlicher Mitarbeiter

Foto von Teodor Tomic

Dr.-Ing. Teodor Tomic

Technische Universität München

Lehrstuhl für Robotik und Systemintelligenz (Prof. Haddadin, Joint Appointment der Fakultät für Elektrotechnik und Informationstechnik und Fakultät für Informatik)


Heßstr. 134
80797 München


Google Scholar profile | Personal website

My primary area of research is nonlinear control of flying robots. My PhD thesis "Model-Based Control of Flying Robots for Robust Interaction under Wind Influence" develops control methods to make autonomous MAVs flying in unknown and uncertain environments robust to and aware of environmental forces. It covers dynamics modeling; physical interaction control; collision detection, identification, isolation and reflexes (fault detection); tactile mapping; aerodynamics modeling; metric wind estimation and compensation of wind influence, as well as an outlook how to extend these methods to flying robot swarms. Some of the algorithms have been implemented in modified form in the Skydio R1 consumer drone.

Research videos

Work experience

  • since 10/2018: PostDoc at TUM RSI
  • since 03/2017: Planning/Controls Software Engineer at Skydio, Redwood City, USA
  • 03/2011 - 03/2017: Researcher (Wissenschaftlicher MA) at German Aerospace Center (DLR) Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany
  • 10/2008 - 06/2010: GNC Systems Engineer at Hipersfera, Zagreb, Croatia


  • 09/2018: Dr.-Ing. thesis defended, advisor: Prof. Dr.-Ing. Sami Haddadin; Leibniz University Hanover (LUH) Institute of Automatic Control (IRT)
  • 02/2010: Master's degree in Mechanical Engineering / Mechatronics and Robotics, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture (FAMENA)
  • 04/2008: Bachelor's degree in Mechanical Engineering / Mechatronics and Robotics, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture (FAMENA)



  • Müller, MG; Steidle, F; Schuster, MJ; Lutz, P; Maier, M; Stoneman, S; Tomic, T; Stürzl, W: Robust Visual-Inertial State Estimation with Multiple Odometries and Efficient Mapping on an MAV with Ultra-Wide FOV Stereo Vision. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 more…
  • Tomić, Teodor; Lutz, P; Schmid, K; Mathers, A; Haddadin, Sami: Simultaneous Contact and Aerodynamic Force Estimation for Aerial Robots. International Journal of Robotics Reseach (IJRR), 2018 more…


  • Tomic, Teodor; Haddadin, Sami: Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms. International Symposium on Robotics Research (ISRR2017), 2017 more…
  • Tomic, Teodor; Ott, Christian; Haddadin, Sami: External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Transactions on Robotics 33 (6), 2017, 1467-1482 more…


  • Tomic, T.; Haddadin, S.: Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 more…


  • Tomic, T.; Haddadin, S.: A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots. Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014 more…
  • Tomic, T.; Maier, M.; Haddadin, S.: Learning quadrotor maneuvers from optimal control and generalizing in real-time. Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014 more…