Publications

In our recent Nature article, we developed a new theory on how flying drones and insects can estimate gravity direction by combining visual motion sensing with a model of how they move. This discovery forms a parsimonious explanation of multiple phenomena observed in biology and is also an important step for the creation of autonomous tiny drones with even fewer sensors. 

Guido C. H. E. Croon, Julien J. G. Dupeyroux, Christophe De Wagter, Abhishek Chatterjee, Diana A. Olejnik, Franck Ruffier: Accommodating unobservability to control flight attitude with optic flow. In: Nature, vol. 610, no. 7932, pp. 485–490, 2022, ISSN: 0028-0836.
 

Nature Machine Intelligence Paper

Whereas insects seem to control their flight effortlessly with the help of optical flow, robots that attempt to do the same run into problems. We propose as a solution a learning process that allows robots to see distances by means of visual appearance (colors, textures, shapes). Would it be possible that insects do the same?

The article is featured on the cover of Nature Machine Intelligence. Cover reprinted by permission from Springer Nature.

G.C.H.E. de Croon, C. De Wagter, T. Seidl: Enhancing optical-flow-based control by learning visual appearance cues for flying robots. In: Nature Machine Intelligence, vol. 3, no. 1, 2021.

Science Robotics Paper

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 here.

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, vol. 4, no. 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, vol. 361, no. 6407, pp. 1089–1094, 2018, ISSN: 0036-8075.

 

 

 

 

 

All publications

766 entries « 2 of 16 »

2024

Proceedings Articles

T. M. Blaha; E. J. J. Smeur; B. D. W. Remes; C. C. Visser

Flying a quadrotor with unknown actuators and sensor configuration (Proceedings Article)

In: Richardson, T. (Ed.): IMAV 2024: Proceedings of the 15th annual International Micro Air Vehicle Conference and Competition, pp. 192–198, 2024, (International Micro Air Vehicle Conference , IMAV 2024 ; Conference date: 16-09-2024 Through 20-09-2024).

(Links | BibTeX)

Till M. Blaha; Ewoud J. J. Smeur; Bart D. W. Remes

Control of Unknown Quadrotors from a Single Throw (Proceedings Article)

In: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, pp. 10350–10355, IEEE, United States, 2024, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 ; Conference date: 14-10-2024 Through 18-10-2024).

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Masters Theses

Noah Stam

Adaptive dynamic incremental nonlinear control allocation: An actuator fault-tolerant control solution for high-performance aircraft (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (de Visser, C.C. (mentor); Smeur, E.J.J. (graduation committee); Mooij, E. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Francesco Branca

Optical Flow Determination using Neuromorphic Hardware with Integrate & Fire Neurons (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (de Croon, G.C.H.E. (mentor); Hagenaars, J.J. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Lyana Usa

Novel Neuromorphic Hardware Inspired by the Olfactory Pathway Model of the Drosophila: Leveraging bio-plausible computational primitives in digital circuits for spatio-temporal processing (Masters Thesis)

TU Delft Electrical Engineering, Mathematics and Computer Science, 2024, (Frenkel, C. (mentor); Makinwa, K.A.A. (graduation committee); de Croon, G.C.H.E. (graduation committee); Nawrot, M. P. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Luke Waal

Towards a Robust Wireless Real-Time Ecological Monitoring System (Masters Thesis)

TU Delft Electrical Engineering, Mathematics and Computer Science; TU Delft Aerospace Engineering, 2024, (Hamaza, S. (mentor); Rajan, R.T. (mentor); Smeur, E.J.J. (graduation committee); Hendriks, R.C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Noah Wechtler

Implications of Propeller-Wing Interactions on the Control of Aerodynamic-Surface-Free Tilt-Rotor Quad-Planes (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (Smeur, E.J.J. (mentor); Mancinelli, A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Aleksandar Shokolarov

Self-Supervised Learning of Event-Based Optical Flow via Deep Equilibrium Models (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (de Croon, G.C.H.E. (graduation committee); Wu, Y. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Gabriel Gervas Montoya

IUVO: An Emergency Response Flyer (Masters Thesis)

TU Delft Aerospace Engineering; Grochowski, Bartłomiej, 2024, (Smeur, E.J.J. (mentor); Varriale, Carmine (graduation committee); Georgopoulos, P. (graduation committee); Delft University of Technology (degree granting institution)).

(Links | BibTeX)

Dani Tóth

Deep Learning Fusion of Monocular and Stereo Depth Maps Using Convolutional Neural Networks (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Eleftheroglou, N. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Nico Voß

Fault Tolerant Control in Over-Actuated Hybrid Tilt-Rotor Unmanned Aerial Vehicles (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (Smeur, E.J.J. (mentor); Mancinelli, A. (mentor); Bombelli, A. (graduation committee); de Visser, C.C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Sander Hazelaar

Adaptive Visual Servoing Control for Quadrotors: A Bio-inspired Strategy Using Active Vision (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (de Croon, G.C.H.E. (mentor); Yedutenko, M. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Alexander Bom

Design of an inherently fully dynamically balanced aerial manipulator with omnidirectional workspace (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering, 2024, (van der Wijk, V. (mentor); Hamaza, S. (mentor); Herder, J.L. (graduation committee); Goosen, J.F.L. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Andreas Zwanenburg

A lightweight quadrotor autonomy system: To navigate in densely cluttered forest environments (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering, 2024, (Wisse, M. (mentor); Hamaza, S. (graduation committee); Benders, D. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Miscellaneous

Michiel Firlefyn; Jesse Hagenaars; Guido de Croon

Direct learning of home vector direction for insect-inspired robot navigation (Miscellaneous)

2024.

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Changrui Liu; Sven U. Pfeiffer; Guido C. H. E. Croon

Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging (Miscellaneous)

2024.

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Yingfu Xu; Guangzhi Tang; Amirreza Yousefzadeh; Guido Croon; Manolis Sifalakis

Event-based Optical Flow on Neuromorphic Processor: ANN vs. SNN Comparison based on Activation Sparsification (Miscellaneous)

2024.

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Michiel Firlefyn; Jesse Hagenaars; Guido Croon

Direct learning of home vector direction for insect-inspired robot navigation (Miscellaneous)

2024.

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Till M. Blaha; Ewoud J. J. Smeur; Bart D. W. Remes; Coen C. Visser

Flying a Quadrotor with Unknown Actuators and Sensor Configuration (Miscellaneous)

2024.

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Till M. Blaha; Ewoud J. J. Smeur; Bart D. W. Remes

Control of Unknown Quadrotors from a Single Throw (Miscellaneous)

2024.

(Links | BibTeX)

Anton Bredenbeck; Teaya Yang; Salua Hamaza; Mark W. Mueller

A Tactile Feedback Approach to Path Recovery after High-Speed Impacts for Collision-Resilient Drones (Miscellaneous)

2024.

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Julius Rückin; David Morilla-Cabello; Cyrill Stachniss; Eduardo Montijano; Marija Popović

Towards Map-Agnostic Policies for Adaptive Informative Path Planning (Miscellaneous)

2024.

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Julius Rückin; Federico Magistri; Cyrill Stachniss; Marija Popović

Active Learning of Robot Vision Using Adaptive Path Planning (Miscellaneous)

2024.

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Stein Stroobants; Christophe Wagter; Guido C. H. E. De Croon

Neuromorphic Attitude Estimation and Control (Miscellaneous)

2024.

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Ivica Kopriva; Dario Sitnik; Laura-Isabelle Dion-Bertrand; Marija Milković Periša; Mirko Hadžija; Marijana Popović Hadžija

A Hyperspectral Imaging Dataset and Methodology for Intraoperative Pixel-Wise Classification of Metastatic Colon Cancer in the Liver (Miscellaneous)

2024.

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Jesse Hagenaars; Yilun Wu; Federico Paredes-Vallés; Stein Stroobants; Guido Croon

On-Device Self-Supervised Learning of Low-Latency Monocular Depth from Only Events (Miscellaneous)

2024.

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Liren Jin; Xingguang Zhong; Yue Pan; Jens Behley; Cyrill Stachniss; Marija Popović

ActiveGS: Active Scene Reconstruction Using Gaussian Splatting (Miscellaneous)

2024.

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Michiel Firlefyn; Jesse Hagenaars; Guido Croon

Replication data for: Direct learning of home vector direction for insect-inspired robot navigation (Miscellaneous)

2024.

(Links | BibTeX)

Federico Paredes-Vallés; Jesse Hagenaars; Julien Dupeyroux; Stein Stroobants; Yingfu Xu; Guido Croon

Replication data for: Fully-neuromorphic vision and control for autonomous drone flight (Miscellaneous)

2024.

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Matthew Yedutenko; Federico Paredes-Valles; Lyes Khacef; Guido C. H. E. De Croon

TDE-3: An improved prior for optical flow computation in spiking neural networks (Miscellaneous)

2024.

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Hang Yu; Christophe De Wagter; Guido C. H. E Croon

MAVRL: Learn to Fly in Cluttered Environments with Varying Speed (Miscellaneous)

2024.

(Links | BibTeX)

Marija Popovic; Joshua Ott; Julius Rückin; Mykel J. Kochendorfer

Robotic Learning for Adaptive Informative Path Planning (Miscellaneous)

2024.

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Sicong Pan; Liren Jin; Xuying Huang; Cyrill Stachniss; Marija Popović; Maren Bennewitz

Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning (Miscellaneous)

2024.

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Liren Jin; Haofei Kuang; Yue Pan; Cyrill Stachniss; Marija Popović

STAIR: Semantic-Targeted Active Implicit Reconstruction (Miscellaneous)

2024.

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Apoorva Vashisth; Julius Rückin; Federico Magistri; Cyrill Stachniss; Marija Popović

Deep Reinforcement Learning with Dynamic Graphs for Adaptive Informative Path Planning (Miscellaneous)

2024.

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Online

Till Blaha; Ewoud J. J. Smeur; Bart D. W. Remes

Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller (Online)

2024, visited: 05.09.2024.

(Links | BibTeX)

PhD Theses

Tom Dijk

Visual Navigation for Tiny Drones (PhD Thesis)

Delft University of Technology, 2024, ISBN: 978-94-6384-675-2.

(Links | BibTeX)

Unpublished

T. M. Blaha; E. J. J. Smeur; B. D. W. Remes

Control of Unknown Quadrotors from a Single Throw (Unpublished)

arXiv:2406.11723, 2024.

(Links | BibTeX)

T. M. Blaha; E. J. J. Smeur; B. D. W. Remes; C. C. de Visser

Flying a Quadrotor with Unknown Actuators and Sensor Configuration (Unpublished)

2024.

(Links | BibTeX)

2023

Journal Articles

G.C.H.E. de Croon

Drone-racing champions outpaced by AI (Journal Article)

In: Nature, vol. 620, pp. 952-954, 2023, ISBN: 0028-0836.

(Abstract | Links | BibTeX)

Guido C. H. E. Croon

Drone-racing champions outpaced by AI (Journal Article)

In: Nature, vol. 620, no. 7976, pp. 952–954, 2023, ISSN: 0028-0836, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

Cheng Liu; Yingfu Xu; Erik Jan Kampen; Guido Croon

Nano Quadcopter Obstacle Avoidance with a Lightweight Monocular Depth Network (Journal Article)

In: IFAC-PapersOnLine, vol. 56, no. 2, pp. 9312–9317, 2023, ISSN: 2405-8963, (22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023).

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Andrew J. King; Steven J. Portugal; Daniel Strömbom; Richard P. Mann; José A. Carrillo; Dante Kalise; Guido Croon; Heather Barnett; Paul Scerri; More Authors

Biologically inspired herding of animal groups by robots (Journal Article)

In: Methods in Ecology and Evolution, vol. 14, no. 2, pp. 478–486, 2023, ISSN: 2041-210X.

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Rasmus Steffensen; Agnes Steinert; E. J. J. Smeur

Nonlinear Dynamic Inversion with Actuator Dynamics: An Incremental Control Perspective (Journal Article)

In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 46, no. 4, pp. 709–717, 2023, ISSN: 0731-5090.

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A. Altena; J. J. Beers; C. C. Visser

Loss-of-Control Prediction of a Quadcopter Using Recurrent Neural Networks (Journal Article)

In: Journal of Aerospace Information Systems (online), vol. 20, no. 10, pp. 648–659, 2023, ISSN: 2327-3097, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

Alessandro Mancinelli; Bart D. W. Remes; Guido C. H. E. De Croon; Ewoud J. J. Smeur

Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation (Journal Article)

In: Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 108, no. 4, 2023, ISSN: 0921-0296.

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T. M. Blaha; E. J. J. Smeur; B. D. W. Remes

A Survey of Optimal Control Allocation for Aerial Vehicle Control (Journal Article)

In: Actuators, vol. 12, no. 7, 2023, ISSN: 2076-0825.

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Christina Harvey; G. C. H. E. Croon; Graham K. Taylor; Richard J. Bomphrey

Lessons from natural flight for aviation: then, now and tomorrow (Journal Article)

In: The Journal of Experimental Biology, vol. 226, no. 1, 2023, ISSN: 0022-0949.

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M. K. Makaveev; M. Snellen; E. J. J. Smeur

Microphones as Airspeed Sensors for Unmanned Aerial Vehicles (Journal Article)

In: Sensors, vol. 23, no. 5, 2023, ISSN: 1424-8220.

(Links | BibTeX)

G. C. H. E. Croon; W. Hönig; G. Theraulaz; G. Vásárhelyi

Cross-disciplinary approaches for designing intelligent swarms of drones (Journal Article)

In: Swarm Intelligence, vol. 17, no. 1-2, pp. 1–4, 2023, ISSN: 1935-3812, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

766 entries « 2 of 16 »