The MAVLab publishes the code of its research as open source. This list shows each project with its papers, newest first. More code is on github.com/tudelft.
2026
Bee-Nav github.com/tudelft/Bee-Nav
Efficient robot navigation inspired by honeybee learning flights. In: Nature, vol. 653, no. 8116, pp. 1039–1046, 2026, ISSN: 0028-0836.
On this website: Honeybees teach drones how to navigate
MonoRaceGate github.com/tudelft/MonoRaceGate
rendering-free-event-nav github.com/tudelft/rendering-free-event-nav
speck-optical-flow github.com/tudelft/speck-optical-flow
Optical Flow Estimation using SPECK™ Neuromorphic Hardware. TU Delft Mechanical Engineering, 2025, (de Croon, G.C.H.E. (mentor); Ou, D. (mentor); Kober, J. (graduation committee member); de Wagter, C. (graduation committee member); Delft University of Technology (degree granting institution); graduation 29-08-2025).
On this website: Optical Flow Estimation using Speck Neuromorphic Hardware
2025
Aerial_To_Aerial_Interception github.com/tudelft/Aerial_To_Aerial_Interception
Reinforcement Learning-Based Guidance and Control for Aerial-to-Aerial Pest Interception. TU Delft Aerospace Engineering, 2025, (de Croon, G.C.H.E. (mentor); Vos, R.W. (mentor); Yedutenko, M. (mentor); de Wagter, C. (graduation committee member); Bombelli, A. (graduation committee member); Delft University of Technology (degree granting institution); graduation 11-12-2025).
DepthTransfer github.com/tudelft/DepthTransfer
Depth Transfer: Learning to See Like a Simulator for Real-World Drone Navigation. In: IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 11848–11855, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. 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.).
On this website: Depth Transfer: Learning to See Like a Simulator for Real-World Drone Navigation
nsga-drone-evolve github.com/tudelft/nsga-drone-evolve
propeller_airspeed_sensor github.com/tudelft/propeller_airspeed_sensor
Airspeed estimation for UAVs using only propeller feedback. In: Aerospace Science and Technology, vol. 168, 2026, ISSN: 1270-9638.
quadintercept_drl github.com/tudelft/quadintercept_drl
Beyond Proportional Navigation: Deep Reinforcement Learning for Robust Drone Interception. TU Delft Mechanical Engineering, 2025, (Ferranti, L. (mentor); Smeur, E.J.J. (mentor); Alonso-Mora, Javier (graduation committee member); Ferrari, R. (graduation committee member); Delft University of Technology (degree granting institution); graduation 05-11-2025).
SwitchDivServ github.com/tudelft/SwitchDivServ
Bioinspired adaptive visual servoing control for quadrotors. In: Bioinspiration & Biomimetics: learning from nature, vol. 20, no. 3, 2025, ISSN: 1748-3182.
2024
attitude_from_events github.com/tudelft/attitude_from_events
All eyes, no IMU: learning flight attitude from vision alone. In: npj Robotics, vol. 4, no. 1, 2026, ISSN: 2731-4278.
On this website: All Eyes, no IMU: Learning Flight Attitude from Vision Alone
cuda_event_ops github.com/tudelft/cuda_event_ops
On this website: On-Device Self-Supervised Learning of Low-Latency Monocular Depth from Only Events
depth_from_events github.com/tudelft/depth_from_events
On this website: On-Device Self-Supervised Learning of Low-Latency Monocular Depth from Only Events
event_orin_drone github.com/tudelft/event_orin_drone
All eyes, no IMU: learning flight attitude from vision alone. In: npj Robotics, vol. 4, no. 1, 2026, ISSN: 2731-4278.
On this website: All Eyes, no IMU: Learning Flight Attitude from Vision Alone, On-Device Self-Supervised Learning of Low-Latency Monocular Depth from Only Events
event_planar github.com/tudelft/event_planar
Fully neuromorphic vision and control for autonomous drone flight. In: Science Robotics, vol. 9, no. 90, 2024, ISSN: 2470-9476, (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.).
On this website: Fully neuromorphic vision and control for autonomous drone flight
indiflight github.com/tudelft/indiflight
One Net to Rule Them All: Domain Randomization in Quadcopter Racing Across Different Platforms. In: Ott, Christian; Admoni, Henny; Behnke, Sven; Bogdan, Stjepan; Bolopion, Aude; Choi, Youngjin; Ficuciello, Fanny; Gans, Nicholas; Gosselin, Clement; Harada, Kensuke; Kayacan, Erdal; Kim, H. Jin; Leutenegger, Stefan; Liu, Zhe; Maiolino, Perla; Marques, Lino; Matsubara, Takamitsu; Mavromatti, Anastasia; Minor, Mark; O'Kane, Jason; Park, Hae Won; Park, Hae-Won; Rekleitis, Ioannis; Renda, Federico; Ricci, Elisa; Riek, Laurel D.; Sabattini, Lorenzo; Shen, Shaojie; Sun, Yu; Wieber, Pierre-Brice; Yamane, Katsu; Yu, Jingjin (Ed.): 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, pp. 6357–6363, IEEE, United States, 2025, (Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. 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.; 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 ; Conference date: 19-05-2025 Through 23-05-2025).
Control of Unknown Quadrotors from a Single Throw. 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).
Flying a quadrotor with unknown actuators and sensor configuration. 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).
indiflightSupport github.com/tudelft/indiflightSupport
Control of Unknown Quadrotors from a Single Throw. 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).
Flying a quadrotor with unknown actuators and sensor configuration. 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).
inertiaEstimation github.com/tudelft/inertiaEstimation
Rapid and Inexpensive Inertia Tensor Estimation From a Single Object Throw. In: IEEE Robotics and Automation Letters, vol. 10, no. 7, pp. 7365–7371, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. 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.).
learning2home-icra24-bearingNet github.com/tudelft/learning2home-icra24-bearingNet
Direct learning of home vector direction for insect-inspired robot navigation. In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 6022–6028, 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 International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).
On this website: Direct learning of home vector direction for insect-inspired robot navigation (ICRA’24)
learning2home-icra24-flightmare github.com/tudelft/learning2home-icra24-flightmare
Direct learning of home vector direction for insect-inspired robot navigation. In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 6022–6028, 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 International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).
On this website: Direct learning of home vector direction for insect-inspired robot navigation (ICRA’24)
learning2home-icra24-flightmare_unity github.com/tudelft/learning2home-icra24-flightmare_unity
Direct learning of home vector direction for insect-inspired robot navigation. In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 6022–6028, 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 International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).
On this website: Direct learning of home vector direction for insect-inspired robot navigation (ICRA’24)
mavrl github.com/tudelft/mavrl
MAVRL: Learn to Fly in Cluttered Environments With Varying Speed. In: IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1441–1448, 2025, ISSN: 2377-3766, (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.).
On this website: MAVRL: Learn to Fly in Cluttered Environments with Varying Speed
neuromorphic_att_est_and_control github.com/tudelft/neuromorphic_att_est_and_control
Neuromorphic Attitude Estimation and Control. In: IEEE Robotics and Automation Letters, vol. 10, no. 5, 2025, ISSN: 2377-3766, (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.).
ole_ros github.com/tudelft/ole_ros
All eyes, no IMU: learning flight attitude from vision alone. In: npj Robotics, vol. 4, no. 1, 2026, ISSN: 2731-4278.
On this website: All Eyes, no IMU: Learning Flight Attitude from Vision Alone
2023
idnet github.com/tudelft/idnet
Lightweight Event-based Optical Flow Estimation via Iterative Deblurring. In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 14708–14715, 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 International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).
nanoflownet github.com/tudelft/nanoflownet
NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter. In: Proceedings - ICRA 2023, pp. 1996–2003, IEEE, United States, 2023, (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. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).
optimal_quad_control_RL github.com/tudelft/optimal_quad_control_RL
One Net to Rule Them All: Domain Randomization in Quadcopter Racing Across Different Platforms. In: Ott, Christian; Admoni, Henny; Behnke, Sven; Bogdan, Stjepan; Bolopion, Aude; Choi, Youngjin; Ficuciello, Fanny; Gans, Nicholas; Gosselin, Clement; Harada, Kensuke; Kayacan, Erdal; Kim, H. Jin; Leutenegger, Stefan; Liu, Zhe; Maiolino, Perla; Marques, Lino; Matsubara, Takamitsu; Mavromatti, Anastasia; Minor, Mark; O'Kane, Jason; Park, Hae Won; Park, Hae-Won; Rekleitis, Ioannis; Renda, Federico; Ricci, Elisa; Riek, Laurel D.; Sabattini, Lorenzo; Shen, Shaojie; Sun, Yu; Wieber, Pierre-Brice; Yamane, Katsu; Yu, Jingjin (Ed.): 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, pp. 6357–6363, IEEE, United States, 2025, (Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. 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.; 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 ; Conference date: 19-05-2025 Through 23-05-2025).
End-to-end neural network based optimal quadcopter control. In: Robotics and Autonomous Systems, vol. 172, 2024, ISSN: 0921-8890, (Funding Information: This work was supported by the European Space Agency.This research was co-funded under the Discovery programme of, and funded by, the European Space Agency. Funding Information: This work was supported by the European Space Agency . Publisher Copyright: © 2023 The Authors).
taming_event_flow github.com/tudelft/taming_event_flow
Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flow. In: Proceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023, pp. 9661–9671, IEEE, United States, 2023, (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. ; 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 ; Conference date: 02-10-2023 Through 06-10-2023).
On this website: Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flow
2022
AvoidBench github.com/tudelft/AvoidBench
AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors. In: Proceedings - ICRA 2023, pp. 9183–9189, IEEE, United States, 2023, (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. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).
On this website: AvoidBench @ ICRA 2023
CUAHN-VIO github.com/tudelft/CUAHN-VIO
CUAHN-VIO: Content-and-uncertainty-aware homography network for visual-inertial odometry. In: Robotics and Autonomous Systems, vol. 185, 2025, ISSN: 0921-8890.
depth_avoider_crazyflie github.com/tudelft/depth_avoider_crazyflie
Nano Quadcopter Obstacle Avoidance with a Lightweight Monocular Depth Network. 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).
gas-seeking-gui github.com/tudelft/gas-seeking-gui
Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 9099–9106, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).
IP-STDP-FlowNet github.com/tudelft/IP-STDP-FlowNet
Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception. In: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 42 (2020), no. 8, pp. 2051–2064, 2019, ISSN: 0162-8828.
NavDataset github.com/tudelft/NavDataset
A Novel Multi-vision Sensor Dataset for Insect-Inspired Outdoor Autonomous Navigation. In: Hunt, Alexander; Vouloutsi, Vasiliki; Moses, Kenneth; Quinn, Roger; Mura, Anna; Prescott, Tony; Verschure, Paul F. (Ed.): Biomimetic and Biohybrid Systems - 11th International Conference, Living Machines 2022, Proceedings, pp. 279–291, Springer, 2022, ISBN: 9783031204692, (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. ; 11th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2022 ; Conference date: 19-07-2022 Through 22-07-2022).
neuromorphic_attitude_estimation github.com/tudelft/neuromorphic_attitude_estimation
Neuromorphic computing for attitude estimation onboard quadrotors. In: Neuromorphic Computing and Engineering, vol. 2, no. 3, 2022, ISSN: 2634-4386.
risk-sensitive-rl github.com/tudelft/risk-sensitive-rl
Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning. In: Proceedings - ICRA 2023, pp. 7198–7204, IEEE, United States, 2023, (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. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).
2021
AutoGDM github.com/tudelft/AutoGDM
Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 9099–9106, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).
blimp_snn github.com/tudelft/blimp_snn
Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp. In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 85–90, 2022, (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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).
event_flow github.com/tudelft/event_flow
On this website: Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networks
faith github.com/tudelft/faith
FAITH: Fast Iterative Half-Plane Focus of Expansion Estimation Using Optic Flow. In: IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7627–7634, 2021, ISSN: 2377-3766.
filled-disparity-monodepth github.com/tudelft/filled-disparity-monodepth
ODA_Dataset github.com/tudelft/ODA_Dataset
A Novel Obstacle Detection and Avoidance Dataset for Drones. In: Proceedings of System Engineering for Constrained Embedded Systems - DroneSE, pp. 8–13, Association for Computing Machinery (ACM), United States, 2022, (2022 Workshop on System Engineering for Constrained Embedded Systems - Drone Systems Engineering and Rapid Simulation and Performance Evaluation: Methods and Tools, DroneSE and RAPIDO 2022 - Presented at HiPEAC 2022 Conference ; Conference date: 20-06-2022 Through 22-06-2022).
PoseNet_Planar github.com/tudelft/PoseNet_Planar
CNN-based Ego-Motion Estimation for Fast MAV Maneuvers. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 7606–7612, IEEE, United States, 2021, ISBN: 978-1-7281-9078-5, (ICRA 2021 : IEEE International Conference on Robotics and Automation ; Conference date: 30-05-2021 Through 05-06-2021).
sniffy-bug github.com/tudelft/sniffy-bug
Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 9099–9106, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).
SpikeCoding github.com/tudelft/SpikeCoding
ssl_e2vid github.com/tudelft/ssl_e2vid
Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancy. In: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3445–3454, IEEE, United States, 2021, ISBN: 978-1-6654-4510-8, (2021 IEEE/CVF Conference on Computer Vision<br/>and Pattern Recognition, CVPR 2021 ; Conference date: 20-06-2021 Through 25-06-2021).
On this website: Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancy
2020
loihi github.com/tudelft/loihi
Neuromorphic control for optic-flow-based landing of MAVs using the Loihi processor. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 96–102, IEEE, United States, 2021, ISBN: 978-1-7281-9078-5, (ICRA 2021 : IEEE International Conference on Robotics and Automation ; Conference date: 30-05-2021 Through 05-06-2021).
On this website: Neuromorphic control for optic-flow-based landings of MAVs using the Loihi processor
multi-robot-localization github.com/shushuai3/multi-robot-localization
Onboard Ranging-based Relative Localization and Stability for Lightweight Aerial Swarms. In: IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10066–10073, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. 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.).
rovio2 github.com/tudelft/rovio2
Improving the Computational Efficiency of ROVIO. In: Unmanned Systems, vol. 12, no. 3, pp. 589–598, 2024, ISSN: 2301-3850, (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.).
2019
cf_onboard_swarm github.com/shushuai3/cf_onboard_swarm
Onboard Ranging-based Relative Localization and Stability for Lightweight Aerial Swarms. In: IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10066–10073, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. 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.).
SGBA_CF2_App_layer github.com/tudelft/SGBA_CF2_App_layer
Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. In: Science Robotics, vol. 4, no. 35, 2019, ISSN: 2470-9476.
SGBA_code_SR_2019 github.com/tudelft/SGBA_code_SR_2019
Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. In: Science Robotics, vol. 4, no. 35, 2019, ISSN: 2470-9476.
A comparative study of bug algorithms for robot navigation. In: Robotics and Autonomous Systems, vol. 121, 2019, ISSN: 0921-8890.
2018
cuSNN github.com/tudelft/cuSNN
Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception. In: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 42 (2020), no. 8, pp. 2051–2064, 2019, ISSN: 0162-8828.
On this website: cuSNN
cuSNN-samples github.com/tudelft/cuSNN-samples
Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception. In: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 42 (2020), no. 8, pp. 2051–2064, 2019, ISSN: 0162-8828.
2017
coursePaparazzi github.com/tudelft/coursePaparazzi
On this website: Introduction to Paparazzi Autopilot
2016
EdgeFlow_matlab github.com/tudelft/EdgeFlow_matlab
Efficient Optical Flow and Stereo Vision for Velocity Estimation and Obstacle Avoidance on an Autonomous Pocket Drone. In: IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 1070 – 1076, 2017, ISSN: 2377-3766.
On this website: Towards an autonomous pocket drone for indoor navigation
iridium github.com/tudelft/iridium
On this website: Open Source Iridium Communication IRIDIUM CORE IR9523 Carrier Board
monocular_distance github.com/guidoAI/monocular_distance
Monocular distance estimation with optical flow maneuvers and efference copies: a stability based strategy. In: Bioinspiration & Biomimetics: learning from nature, vol. 11, no. 1, pp. 1–18, 2016, ISSN: 1748-3182.
On this website: New theory allows drones to see distances with one eye
2015
first_release_OF_slope_estimation mavlab.tudelft.nl/wp-content/uploads/2015/12/first_release_OF_slope_estimation.zip
Optic-flow based slope estimation for autonomous landing. In: International Journal of Micro Air Vehicles, vol. 5/2013, no. 4, pp. 287–297, 2013, ISSN: 1756-8293.
Optic-flow based slope estimation for autonomous landing. In: Moschetta, JM (Ed.): Proceedings of the International Micro Air Vehicle Conference and Flight Competition, pp. 1–10, IMAV, 2013, (The International Micro Air Vehicle Conference and Flight Competition ; Conference date: 17-09-2013 Through 20-09-2013).
On this website: Optical Flow based Slope Estimation
paparazzi (divergence_landing) github.com/guidoAI/paparazzi/tree/divergence_landing
Monocular distance estimation with optical flow maneuvers and efference copies: a stability based strategy. In: Bioinspiration & Biomimetics: learning from nature, vol. 11, no. 1, pp. 1–18, 2016, ISSN: 1748-3182.
On this website: New theory allows drones to see distances with one eye
2010
paparazzi github.com/paparazzi/paparazzi
On this website: First place and innovation award at IMAV 2018, Control of the Cyclone Hybrid UAV, Introduction to Paparazzi Autopilot, TU Delft becomes second in first autonomous drone race