Publications

Latest publication

Our recent paper in Science Robotics presents the first swarm of tiny robots that can explore unknown environments completely by themselves. No map, no memory, and no GPS!

The full paper can be found through this link.

K N McGuire, C De Wagter, K Tuyls, H J Kappen, G C H E de Croon: Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. In: Science Robotics, 4 (35), 2019.

Delfly Book

Our book about the DelFly has been published! The book introduces the topics most relevant to autonomously flying flapping-wing robots: flapping-wing design, aerodynamics, and artificial intelligence.

G C H E de Croon, Mustafa Percin, B D W Remes, Rick Ruijsink, C De Wagter: The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot. Springer Netherlands, 2016, ISBN: 978-94-017-9207-3.

Science paper

The Delfly Nimble was featured on the cover of Science Magazine in September 2018.

Matěj Karásek, Florian T Muijres, Christophe De Wagter, Bart D W Remes, Guido C H E de Croon: A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns. In: Science, 361 (6407), pp. 1089–1094, 2018, ISSN: 0036-8075.

 

 

 

All publications

111 entries « 1 of 3 »

2019

Journal Articles

S Li; C De Wagter; G C H E de Croon

Unsupervised Tuning of Filter Parameters Without Ground-Truth Applied to Aerial Robots (Journal Article)

IEEE Robotics and Automation Letters, 4 (4), pp. 4102-4107, 2019, ISSN: 2377-3766.

(Links | BibTeX)

M Coppola; J Guo; E Gill; G C H E de Croon

The PageRank algorithm as a method to optimize swarm behavior through local analysis (Journal Article)

Swarm Intelligence, 2019, ISSN: 1935-3820.

(Links | BibTeX)

Federico Paredes-Vallés; Kirk Y W Scheper; Guido C H E de Croon

Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception (Journal Article)

IEEE Ŧransactions on Pattern Analysis and Machine Intelligence, 2019, ISSN: 1939-3539.

(Links | BibTeX)

Steven van der Helm; Mario Coppola; Kimberly N McGuire; Guido C H E de Croon

On-board range-based relative localization for micro air vehicles in indoor leader--follower flight (Journal Article)

Autonomous Robots, 2019, ISSN: 1573-7527.

(Links | BibTeX)

Mario Coppola; Jian Guo; Eberhard Gill; Guido C H E de Croon

Provable self-organizing pattern formation by a swarm of robots with limited knowledge (Journal Article)

Swarm Intelligence, 2019, ISSN: 1935-3820.

(Links | BibTeX)

K N McGuire; C De Wagter; K Tuyls; H J Kappen; G C H E de Croon

Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment (Journal Article)

Science Robotics, 4 (35), 2019.

(Links | BibTeX)

K N McGuire; G C H E de Croon; K Tuyls

A comparative study of bug algorithms for robot navigation (Journal Article)

Robotics and Autonomous Systems, 121 , pp. 103261, 2019, ISSN: 0921-8890.

(Abstract | Links | BibTeX)

Christophe De Wagter; Joost Meulenbeld

Modeling the unstable DelftaCopter vertical take-off and landing tailsitter unmanned air vehicle in hover and forward flight from flight test data (Journal Article)

International Journal of Micro Air Vehicles, 11 , pp. 1756829319880302, 2019.

(Links | BibTeX)

Matěj Karásek; Mustafa Percin; Torbjørn Cunis; Bas W van Oudheusden; Christophe De Wagter; Bart DW Remes; Guido CHE de Croon

Accurate position control of a flapping-wing robot enabling free-flight flow visualisation in a wind tunnel (Journal Article)

International Journal of Micro Air Vehicles, 11 , pp. 1756829319833683, 2019.

(Links | BibTeX)

S Li; C De Wagter; CC de Visser; QP Chu; GCHE de Croon

In-flight model parameter and state estimation using gradient descent for high-speed flight (Journal Article)

International Journal of Micro Air Vehicles, 11 , 2019.

(BibTeX)

Hyungpil Moon; Jose Martinez-Carranza; Titus Cieslewski; Matthias Faessler; Davide Falanga; Alessandro Simovic; Davide Scaramuzza; Shuo Li; Michael Ozo; Christophe De Wagter; others

Challenges and implemented technologies used in autonomous drone racing (Journal Article)

Intelligent Service Robotics, pp. 1–12, 2019.

(BibTeX)

Shuo Li; Erik van der Horst; Philipp Duernay; Christophe De Wagter; Guido CHE de Croon

Visual Model-predictive Localization for Computationally Efficient Autonomous Racing of a 72-gram Drone (Journal Article)

CoRR, 2019.

(Links | BibTeX)

Inproceedings

Diana A Olejnik; Bas P Duisterhof; Matej Kar á; Kirk Y W Scheper; Tom van Dijk; Guido C H E de Croon

A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks (Inproceedings)

Campoy, P (Ed.): 11th International Micro Air Vehicle Competition and Conference, pp. 60–66, Madrid, Spain, 2019.

(BibTeX)

Dirk Wijnker; Tom van Dijk; Guido C H E de Croon; Christophe De Wagter

Hear and avoid for UAVs using convolutional neural networks (Inproceedings)

Campoy, P (Ed.): 11th International Micro Air Vehicle Competition and Conference, pp. 144–156, Madrid, Spain, 2019.

(BibTeX)

Dorian N W M Heitzig; Bas W van Oudheusden; Diana A Olejnik; Matej Kar á

Effects of asymmetrical inflow in forward flight on the deformation of interacting flapping-wings (Inproceedings)

Campoy, P (Ed.): 11th International Micro Air Vehicle Competition and Conference, pp. 108–117, Madrid, Spain, 2019.

(BibTeX)

Christophe De Wagter; Bart Remes; Rick Ruisink; Freek van Tienen; Erik van der Horst

Design and Testing of a Vertical take-off and Landing UAV optimized for carrying a Hydrogen Fuel-cell with Pressure Tank (Inproceedings)

Campoy, P (Ed.): 11th International Micro Air Vehicle Competition and Conference, pp. 49–54, Madrid, Spain, 2019.

(BibTeX)

Borrdephong Rattanagraikanakorn; Michiel Schuurman; Derek Gransden; Riender Happee; Christophe De Wagter; Alexei Sharpanskykh; Henk Blom

Modelling Head Injury due to Unmanned Aircraft Systems Collision: Crash Dummy vs Human Body (Inproceedings)

2019 AIAA Aviation and Aeronautics Forum and Exposition, AIAA, 2019.

(Links | BibTeX)

2018

Journal Articles

Mario Coppola; Kimberly N McGuire; Kirk Y W Scheper; Guido C H E de Croon

On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams (Journal Article)

Autonomous Robots, 42 (8), pp. 1787–1805, 2018, ISSN: 1573-7527.

(Links | BibTeX)

Matěj Karásek; Florian T Muijres; Christophe De Wagter; Bart D W Remes; Guido C H E de Croon

A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns (Journal Article)

Science, 361 (6407), pp. 1089–1094, 2018, ISSN: 0036-8075.

(Links | BibTeX)

Gerald J J Van Dalen; Kimberly. N McGuire; Guido C H E De Croon

Visual Homing for Micro Aerial Vehicles Using Scene Familiarity (Journal Article)

Unmanned Systems, 6 (2), pp. 119-130, 2018.

(Links | BibTeX)

Bas J Pijnacker Hordijk; Kirk Y W Scheper; Guido C H E de Croon

Vertical landing for micro air vehicles using event-based optical flow (Journal Article)

Journal of Field Robotics, 35 , pp. 69–90, 2018, ISSN: 1556-4959.

(Links | BibTeX)

H W Ho; C De Wagter; B D W Remes; G C H E de Croon

Optical-Flow based Self-Supervised Learning of Obstacle Appearance applied to MAV Landing (Journal Article)

Robotics and Autonomous Systems, 100 , pp. 78–94, 2018, ISSN: 0921-8890.

(Links | BibTeX)

Sjoerd Tijmons; Christophe de Wagter; Bart Remes; Guido de Croon

Autonomous Door and Corridor Traversal with a 20-Gram Flapping Wing MAV by Onboard Stereo Vision (Journal Article)

Aerospace — Open Access Aeronautics and Astronautics Journal, 5 (3), 2018, ISSN: 2226-4310.

(Links | BibTeX)

Book Chapters

Borrdephong Rattanagraikanakorn; Alexei Sharpanskykh; Michiel Schuurman; Derek Gransden; Henk A P Blom; Christophe De Wagter

Characterizing UAS collision consequences in future UTM (Book Chapter)

2018 Aviation Technology, Integration, and Operations Conference, American Institute of Aeronautics and Astronautics (AIAA), 2018.

(Links | BibTeX)

Inproceedings

Mario Coppola; Guido C H E de Croon

Optimization of Swarm Behavior Assisted by an Automatic Local Proof for a Pattern Formation Task (Inproceedings)

Dorigo, Marco; Birattari, Mauro; Blum, Christian; Christensen, Anders L; Reina, Andreagiovanni; Trianni, Vito (Ed.): Swarm Intelligence, pp. 123–134, Springer International Publishing, Cham, 2018, ISBN: 978-3-030-00533-7.

(BibTeX)

Alejandro D E Herrero; Mustafa Percin; Matěj Karásek; Bas W van Oudheusden

Flow Visualization around a Flapping-Wing Micro Air Vehicle in Free Flight (Inproceedings)

18th International Symposium on Flow Visualization ISFV 18, Zurich, Switzerland, 2018.

(BibTeX)

Blanca Martínez Gallar; Bas W van Oudheusden; Andrea Sciacchitano; Matěj Karásek

Large-Scale Flow Visualization of a Flapping-Wing Micro Air Vehicle (Inproceedings)

18th International Symposium on Flow Visualization ISFV 18, Zurich, Switzerland, 2018.

(BibTeX)

Frank G Rijks; Matěj Karásek; Sophie F Armanini; Coen C de Visser

Studying the Effect of the Tail on the Dynamics of a Flapping-Wing MAV using Free-Flight Data (Inproceedings)

2018 AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2018, ISBN: 978-1-62410-525-8.

(Links | BibTeX)

Sophie F Armanini; Matěj Karásek; Coen C de Visser

Global LPV model identification of flapping-wing dynamics using flight data (Inproceedings)

2018 AIAA Modeling and Simulation Technologies Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2018, ISBN: 978-1-62410-528-9.

(Links | BibTeX)

Kirk Y W Scheper; Matěj Karásek; Christophe De Wagter; Bart D W Remes; Guido C H E de Croon

First autonomous multi-room exploration with an insect-inspired flapping wing vehicle (Inproceedings)

2018 International Conference on Robotics and Automation, pp. 7, Brisbane, Australia, 2018.

(BibTeX)

2017

Journal Articles

S F Armanini; M Karásek; G C H E de Croon; C C de Visser

Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data (Journal Article)

Journal of Guidance, Control, and Dynamics, pp. 1–12, 2017, ISSN: 0731-5090.

(Links | BibTeX)

Kimberly McGuire; Guido de Croon; Karl Tuyls; Bert Kappen

Efficient Optical Flow and Stereo Vision for Velocity Estimation and Obstacle Avoidance on an Autonomous Pocket Drone (Journal Article)

IEEE Robotics and Automation Letters, 2 (2), pp. 1070-1076, 2017, ISSN: 2377-3766.

(Links | BibTeX)

Hann Woei Ho; Guido C H E de Croon; Qiping Chu Chu

Distance and velocity estimation using optical flow from a monocular camera (Journal Article)

International Journal of Micro Air Vehicles, pp. 1756829317695566, 2017.

(BibTeX)

Kirk YW Scheper; Guido CHE de Croon

Abstraction, Sensory-Motor Coordination, and the Reality Gap in Evolutionary Robotics (Journal Article)

Artificial Life, 2017.

(BibTeX)

Sjoerd Tijmons; Guido C H E de Croon; Bart D W Remes; Christophe De Wagter; Max Mulder

Obstacle avoidance strategy using onboard stereo vision on a flapping wing MAV (Journal Article)

IEEE Transactions on Robotics, 2017.

(BibTeX)

Christophe De Wagter; Ewoud J J Smeur

Control of a hybrid helicopter with wings (Journal Article)

International Journal of Micro Air Vehicles, 9 (3), pp. 209-217, 2017.

(Links | BibTeX)

Inproceedings

Ewoud Smeur; Daan H ö; Christophe De Wagter

Prioritized Control Allocation for Quadrotors Subject to Saturation (Inproceedings)

International Micro Air Vehicle Conference and Flight Competition 2017, pp. 37–43, Toulouse, France, 2017.

(BibTeX)

Elisabeth van der Sman; Ewoud Smeur; Bart Remes; Christophe De Wagter; Qiping Chu

Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles (Inproceedings)

de Hattenberger, Plinval Moschetta H J -M G (Ed.): International Micro Air Vehicle Conference and Flight Competition 2017, pp. 111–120, Toulouse, France, 2017.

(BibTeX)

J V Caetano; S F Armanini; M Karasek

In-flight data acquisition and flight testing for system identification of flapping-wing MAVs (Inproceedings)

2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 646–655, IEEE, 2017, ISBN: 978-1-5090-4495-5.

(Links | BibTeX)

Murat Bronz; Ewoud J J Smeur; Hector Garcia de Marina; Gautier Hattenberger

Development of A Fixed-Wing mini UAV with Transitioning Flight Capability (Inproceedings)

AIAA Aviation Forum, 2017.

(Links | BibTeX)

Kimberly McGuire; Mario Coppola; Christophe De~Wagter; Guido de~Croon

Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments (Inproceedings)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

(BibTeX)

Sophie F Armanini; Matej Karásek; Coen C de Visser; Guido de Croon; Max Mulder

Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data (Inproceedings)

AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2017, ISBN: 978-1-62410-448-0.

(Links | BibTeX)

C De Wagter; M Karasek; G C H E de Croon

Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings (Inproceedings)

Moschetta, J -M; Hattenberg, G; de Plinval, H (Ed.): 9th International Micro Air Vehicles Conference and Competition, pp. 249 – 256, Toulouse, France, 2017.

(Links | BibTeX)

2016

Journal Articles

Ewoud J J Smeur; Qiping P Chu; Guido C H E de Croon

Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles (Journal Article)

Journal of Guidance, Control, and Dynamics, 39 (3), pp. 450-461, 2016.

(Links | BibTeX)

Guido C H E de Croon

Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy (Journal Article)

Bioinspiration & biomimetics, 11 (1), pp. 016004, 2016.

(BibTeX)

S F Armanini; J V Caetano; G C H E de Croon; C C de Visser; M Mulder

Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data (Journal Article)

Bioinspiration & Biomimetics, 11 (4), pp. 046002, 2016.

(BibTeX)

S F Armanini; De C C Visser; De G C H E Croon; M Mulder

Time-varying model identification of flapping-wing vehicle dynamics using flight data (Journal Article)

Journal of Guidance, Control, and Dynamics, 39 (3), pp. 526–541, 2016.

(Links | BibTeX)

M Percin; B W van Oudheusden; G C H E de Croon; B Remes

Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II in hovering flight (Journal Article)

Bioinspiration & biomimetics, 11 (3), pp. 036014, 2016.

(BibTeX)

Kirk Y W Scheper; Sjoerd Tijmons; Cornelius C de Visser; Guido C H E de Croon

Behaviour Trees for Evolutionary Robotics (Journal Article)

Artificial life, 22 (1), pp. 23–48, 2016, ISSN: 10645462.

(Links | BibTeX)

Kirk Y W Scheper; Sjoerd Tijmons; Cornelius C de Visser; Guido C H E de Croon

Behaviour Trees for Evolutionary Robotics (Journal Article)

Artificial life, 22 (1), pp. 23–48, 2016, ISSN: 10645462.

(Links | BibTeX)

111 entries « 1 of 3 »