2024
|
Journal Articles
|
Liming Zheng; Salua Hamaza ALBERO: Agile Landing on Branches for Environmental Robotics Operations (Journal Article) In: IEEE Robotics and Automation Letters, vol. 9, iss. 3, pp. 2845-2852, 2024, ISSN: 2377-3766. @article{zheng_24,
title = {ALBERO: Agile Landing on Branches for Environmental Robotics Operations},
author = {Liming Zheng and Salua Hamaza},
doi = {10.1109/LRA.2024.3349914},
issn = {2377-3766},
year = {2024},
date = {2024-01-04},
urldate = {2024-01-04},
journal = {IEEE Robotics and Automation Letters},
volume = {9},
issue = {3},
pages = {2845-2852},
abstract = {Drones have been increasingly used in various domains, including ecological monitoring in forests. However, the endurance and noise of drones have limited their deployment to short flight missions above canopies. To address these limitations, we introduce ALBERO: a framework comprising a mechanical solution and an optimal planner to realise agile quadrotor perching on tree branches of steep incline. The gripper features an ultra-fast active mechanism inspired by birds' claws that enables quadrotors to perch swiftly on randomly-oriented tree branches. By perching, the drone can preserve energy for extended periods of time, while silently gathering forest data in the canopy. The intrinsic properties of the gripper allow for extra flexibility in size, surface roughness and shape imperfections of natural perches, such as those found in the wild. The gripper also has good scalability properties and can be easily matched to different drones' sizes. The biggest advantage of this novel design lays in its ability to close reactively and ultra-fast (67ms on the large gripper, 42 ms on the small gripper), enabling the quadrotor to perform agile perching manoeuvres from different angles and at different approach speeds. ALBERO's software module comprises of a trajectory planning algorithm adapted for branch perching, ensuring that the drone can perch on inclined cylindrical targets from any starting location in the proximity of the branch. These requirements translate in stringent positioning and orientation accuracy, but they enable the drone to land dynamically from a variety of positions within the forest.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Drones have been increasingly used in various domains, including ecological monitoring in forests. However, the endurance and noise of drones have limited their deployment to short flight missions above canopies. To address these limitations, we introduce ALBERO: a framework comprising a mechanical solution and an optimal planner to realise agile quadrotor perching on tree branches of steep incline. The gripper features an ultra-fast active mechanism inspired by birds' claws that enables quadrotors to perch swiftly on randomly-oriented tree branches. By perching, the drone can preserve energy for extended periods of time, while silently gathering forest data in the canopy. The intrinsic properties of the gripper allow for extra flexibility in size, surface roughness and shape imperfections of natural perches, such as those found in the wild. The gripper also has good scalability properties and can be easily matched to different drones' sizes. The biggest advantage of this novel design lays in its ability to close reactively and ultra-fast (67ms on the large gripper, 42 ms on the small gripper), enabling the quadrotor to perform agile perching manoeuvres from different angles and at different approach speeds. ALBERO's software module comprises of a trajectory planning algorithm adapted for branch perching, ensuring that the drone can perch on inclined cylindrical targets from any starting location in the proximity of the branch. These requirements translate in stringent positioning and orientation accuracy, but they enable the drone to land dynamically from a variety of positions within the forest. |
Liming Zheng; Salua Hamaza ALBERO: Agile Landing on Branches for Environmental Robotics Operations (Journal Article) In: IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2845–2852, 2024, 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.). @article{4f72ee48af594442976869c1133ef133,
title = {ALBERO: Agile Landing on Branches for Environmental Robotics Operations},
author = {Liming Zheng and Salua Hamaza},
url = {https://research.tudelft.nl/en/publications/albero-agile-landing-on-branches-for-environmental-robotics-opera},
doi = {10.1109/LRA.2024.3349914},
issn = {2377-3766},
year = {2024},
date = {2024-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {9},
number = {3},
pages = {2845–2852},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
note = {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.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Robin Ferede; Guido Croon; Christophe De Wagter; Dario Izzo End-to-end neural network based optimal quadcopter control (Journal Article) 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). @article{16169a19bf6b46818ecc18a9f2bd5e0f,
title = {End-to-end neural network based optimal quadcopter control},
author = {Robin Ferede and Guido Croon and Christophe De Wagter and Dario Izzo},
url = {https://research.tudelft.nl/en/publications/end-to-end-neural-network-based-optimal-quadcopter-control},
doi = {10.1016/j.robot.2023.104588},
issn = {0921-8890},
year = {2024},
date = {2024-01-01},
journal = {Robotics and Autonomous Systems},
volume = {172},
publisher = {Elsevier},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Masters Theses
|
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)). @mastersthesis{uuid:9ab2b4ba-8f91-4891-8190-4a96f77c471e,
title = {Adaptive Visual Servoing Control for Quadrotors: A Bio-inspired Strategy Using Active Vision},
author = {Sander Hazelaar},
url = {http://resolver.tudelft.nl/uuid:9ab2b4ba-8f91-4891-8190-4a96f77c471e},
year = {2024},
date = {2024-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {New insights into the landing behavior of bumblebees show an adaptive strategy where the optical flow expansion of the landing target is step-wise regulated. In this article, the potential benefits of this approach are studied by replicating the landing experiment with a quadrotor. To this end, an open-loop switching method is developed, enabling fast steps in divergence. An adaptive control law is used to deal with non-linear system dynamics, where the control gain is scheduled based on the control effectiveness of the actuator inputs during the steps. It is demonstrated that the quadrotor can reliably land on the target from varying initial positions, and the switching strategy shows a slight reduction in landing time compared to a constant divergence strategy with the same average divergence over distance. This strategy also reduces the maximum velocity during the landing.},
note = {de Croon, G.C.H.E. (mentor); Yedutenko, M. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
New insights into the landing behavior of bumblebees show an adaptive strategy where the optical flow expansion of the landing target is step-wise regulated. In this article, the potential benefits of this approach are studied by replicating the landing experiment with a quadrotor. To this end, an open-loop switching method is developed, enabling fast steps in divergence. An adaptive control law is used to deal with non-linear system dynamics, where the control gain is scheduled based on the control effectiveness of the actuator inputs during the steps. It is demonstrated that the quadrotor can reliably land on the target from varying initial positions, and the switching strategy shows a slight reduction in landing time compared to a constant divergence strategy with the same average divergence over distance. This strategy also reduces the maximum velocity during the landing. |
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)). @mastersthesis{uuid:9a295d44-1e95-4911-a4a2-4a96c498fe79,
title = {Design of an inherently fully dynamically balanced aerial manipulator with omnidirectional workspace},
author = {Alexander Bom},
url = {http://resolver.tudelft.nl/uuid:9a295d44-1e95-4911-a4a2-4a96c498fe79},
year = {2024},
date = {2024-01-01},
school = {TU Delft Mechanical, Maritime and Materials Engineering},
abstract = {Drones are increasingly used nowadays, primarily for visual inspection tasks facilitated by onboard cameras. The field of aerial manipulation tries to expand the capabilities of drones by attaching a manipulator, enabling physical interaction. Unfortunately, the usability of aerial manipulators is hindered by disturbances resulting from the movements of the manipulator. These disturbances, including reaction forces and a shifting centre of mass, not only affect manipulation accuracy but also pose safety risks by potentially destabilizing the drone. In this thesis, a design is presented that addresses this challenge by leveraging the theory of dynamic balance. <br/>A new design approach of making a manipulator fly, instead of the common approach of mounting a manipulator arm to a drone was used. This new approach avoids interference with the drone's components, allowing to focus on the design of the manipulator arm. Furthermore, it made it possible to create a manipulator which can manipulate above, to the side and underneath itself. This makes the presented manipulator arm more versatile than common aerial manipulators whose workspace is mostly located only above or below the drone. The kinematics, workspace and balance conditions of the manipulator arm are presented. Furthermore, the design's workspace is optimised while the mass of the manipulator is minimized in a bilevel optimisation. Finally, the design is validated both by simulation and measurements performed with the built prototype.<br/>The design presented is the first inherently fully dynamically balanced manipulator with omnidirectional workspace which can be used for aerial manipulation.<br},
note = {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)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Drones are increasingly used nowadays, primarily for visual inspection tasks facilitated by onboard cameras. The field of aerial manipulation tries to expand the capabilities of drones by attaching a manipulator, enabling physical interaction. Unfortunately, the usability of aerial manipulators is hindered by disturbances resulting from the movements of the manipulator. These disturbances, including reaction forces and a shifting centre of mass, not only affect manipulation accuracy but also pose safety risks by potentially destabilizing the drone. In this thesis, a design is presented that addresses this challenge by leveraging the theory of dynamic balance. <br/>A new design approach of making a manipulator fly, instead of the common approach of mounting a manipulator arm to a drone was used. This new approach avoids interference with the drone's components, allowing to focus on the design of the manipulator arm. Furthermore, it made it possible to create a manipulator which can manipulate above, to the side and underneath itself. This makes the presented manipulator arm more versatile than common aerial manipulators whose workspace is mostly located only above or below the drone. The kinematics, workspace and balance conditions of the manipulator arm are presented. Furthermore, the design's workspace is optimised while the mass of the manipulator is minimized in a bilevel optimisation. Finally, the design is validated both by simulation and measurements performed with the built prototype.<br/>The design presented is the first inherently fully dynamically balanced manipulator with omnidirectional workspace which can be used for aerial manipulation.<br |
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)). @mastersthesis{uuid:a164abc6-0103-4fa0-b7ac-c15bce2bce64,
title = {A lightweight quadrotor autonomy system: To navigate in densely cluttered forest environments},
author = {Andreas Zwanenburg},
url = {http://resolver.tudelft.nl/uuid:a164abc6-0103-4fa0-b7ac-c15bce2bce64},
year = {2024},
date = {2024-01-01},
school = {TU Delft Mechanical, Maritime and Materials Engineering},
abstract = {These days, people see more and more applications for drones, including monitoring rainforests to protect plant and animal species. However, drones face challenges when navigating through the dense and cluttered vegetation of the forest. These environments necessitate advanced autonomous detection and navigation to make the drone traverse robustly and fly safely. In addition, the forest brings extra challenges, such as blocked signals for GPS localisation, remote control, and remote supervising.<br/><br/>In this thesis project, a drone is designed, built, and programmed to navigate autonomously in the rainforest with complete onboard computing and no GPS localisation. This 500-gram drone is being extensively tested and optimized in real forest conditions, and a dataset is being created from its autonomous flights to simulate various configurations of the path-planning algorithm. The results of these simulations on this dataset are then used for thorough research on how the algorithm can downscale to smaller systems and how this affects performance.<br/><br/>By using the results of this research on downscaling, a 100-gram drone is built and programmed to fly in forest conditions with complete onboard computation. Challenging on this small-size drone is the use of low-quality lightweight sensors and processor. The processor only weighs 10 grams, and the depth camera weighs 8 grams. Unique on this small drone is the 3D path planning fully computed onboard and the implementation of a new type of depth camera.},
note = {Wisse, M. (mentor); Hamaza, S. (graduation committee); Benders, D. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
These days, people see more and more applications for drones, including monitoring rainforests to protect plant and animal species. However, drones face challenges when navigating through the dense and cluttered vegetation of the forest. These environments necessitate advanced autonomous detection and navigation to make the drone traverse robustly and fly safely. In addition, the forest brings extra challenges, such as blocked signals for GPS localisation, remote control, and remote supervising.<br/><br/>In this thesis project, a drone is designed, built, and programmed to navigate autonomously in the rainforest with complete onboard computing and no GPS localisation. This 500-gram drone is being extensively tested and optimized in real forest conditions, and a dataset is being created from its autonomous flights to simulate various configurations of the path-planning algorithm. The results of these simulations on this dataset are then used for thorough research on how the algorithm can downscale to smaller systems and how this affects performance.<br/><br/>By using the results of this research on downscaling, a 100-gram drone is built and programmed to fly in forest conditions with complete onboard computation. Challenging on this small-size drone is the use of low-quality lightweight sensors and processor. The processor only weighs 10 grams, and the depth camera weighs 8 grams. Unique on this small drone is the 3D path planning fully computed onboard and the implementation of a new type of depth camera. |
Miscellaneous
|
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. @misc{2402.11662,
title = {TDE-3: An improved prior for optical flow computation in spiking neural networks},
author = {Matthew Yedutenko and Federico Paredes-Valles and Lyes Khacef and Guido C. H. E. De Croon},
url = {https://arxiv.org/abs/2402.11662},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Hang Yu; Christophe De Wagter; Guido C. H. E Croon MAVRL: Learn to Fly in Cluttered Environments with Varying Speed (Miscellaneous) 2024. @misc{2402.08381,
title = {MAVRL: Learn to Fly in Cluttered Environments with Varying Speed},
author = {Hang Yu and Christophe De Wagter and Guido C. H. E Croon},
url = {https://arxiv.org/abs/2402.08381},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Marija Popovic; Joshua Ott; Julius Rückin; Mykel J. Kochendorfer Robotic Learning for Adaptive Informative Path Planning (Miscellaneous) 2024. @misc{2404.06940,
title = {Robotic Learning for Adaptive Informative Path Planning},
author = {Marija Popovic and Joshua Ott and Julius Rückin and Mykel J. Kochendorfer},
url = {https://arxiv.org/abs/2404.06940},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
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. @misc{2403.16803,
title = {Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning},
author = {Sicong Pan and Liren Jin and Xuying Huang and Cyrill Stachniss and Marija Popović and Maren Bennewitz},
url = {https://arxiv.org/abs/2403.16803},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Liren Jin; Haofei Kuang; Yue Pan; Cyrill Stachniss; Marija Popović STAIR: Semantic-Targeted Active Implicit Reconstruction (Miscellaneous) 2024. @misc{2403.11233,
title = {STAIR: Semantic-Targeted Active Implicit Reconstruction},
author = {Liren Jin and Haofei Kuang and Yue Pan and Cyrill Stachniss and Marija Popović},
url = {https://arxiv.org/abs/2403.11233},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Apoorva Vashisth; Julius Rückin; Federico Magistri; Cyrill Stachniss; Marija Popović Deep Reinforcement Learning with Dynamic Graphs for Adaptive Informative Path Planning (Miscellaneous) 2024. @misc{2402.04894,
title = {Deep Reinforcement Learning with Dynamic Graphs for Adaptive Informative Path Planning},
author = {Apoorva Vashisth and Julius Rückin and Federico Magistri and Cyrill Stachniss and Marija Popović},
url = {https://arxiv.org/abs/2402.04894},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
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. @article{drone_racing_nature_news,
title = {Drone-racing champions outpaced by AI},
author = {G.C.H.E. de Croon},
url = {https://www.nature.com/articles/d41586-023-02506-8},
doi = {10.1038/d41586-023-02506-8},
isbn = {0028-0836},
year = {2023},
date = {2023-08-30},
urldate = {2023-08-30},
journal = {Nature},
volume = {620},
pages = {952-954},
abstract = {An autonomous drone has competed against human drone-racing champions — and won. The victory can be attributed to savvy engineering and a type of artificial intelligence that learns mostly through trial and error.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
An autonomous drone has competed against human drone-racing champions — and won. The victory can be attributed to savvy engineering and a type of artificial intelligence that learns mostly through trial and error. |
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.). @article{e9309de882e8426685a02436a0e40190,
title = {Drone-racing champions outpaced by AI},
author = {Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/drone-racing-champions-outpaced-by-ai},
doi = {10.1038/d41586-023-02506-8},
issn = {0028-0836},
year = {2023},
date = {2023-01-01},
journal = {Nature},
volume = {620},
number = {7976},
pages = {952–954},
publisher = {Nature},
note = {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.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{ee1fa5db82ce49cca721188a0dd6c194,
title = {Biologically inspired herding of animal groups by robots},
author = {Andrew J. King and Steven J. Portugal and Daniel Strömbom and Richard P. Mann and José A. Carrillo and Dante Kalise and Guido Croon and Heather Barnett and Paul Scerri and More Authors},
url = {https://research.tudelft.nl/en/publications/biologically-inspired-herding-of-animal-groups-by-robots},
doi = {10.1111/2041-210X.14049},
issn = {2041-210X},
year = {2023},
date = {2023-01-01},
journal = {Methods in Ecology and Evolution},
volume = {14},
number = {2},
pages = {478–486},
publisher = {John Wiley & Sons},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{5a4287a80ab94c0f880c345ca5000c2d,
title = {Nonlinear Dynamic Inversion with Actuator Dynamics: An Incremental Control Perspective},
author = {Rasmus Steffensen and Agnes Steinert and E. J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/nonlinear-dynamic-inversion-with-actuator-dynamics-an-incremental},
doi = {10.2514/1.G007079},
issn = {0731-5090},
year = {2023},
date = {2023-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
volume = {46},
number = {4},
pages = {709–717},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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.). @article{3051e4a556844d69a3a5bf1109298635,
title = {Loss-of-Control Prediction of a Quadcopter Using Recurrent Neural Networks},
author = {A. Altena and J. J. Beers and C. C. Visser},
url = {https://research.tudelft.nl/en/publications/loss-of-control-prediction-of-a-quadcopter-using-recurrent-neural},
doi = {10.2514/1.I011231},
issn = {2327-3097},
year = {2023},
date = {2023-01-01},
journal = {Journal of Aerospace Information Systems (online)},
volume = {20},
number = {10},
pages = {648–659},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
note = {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.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{a3ef568eb7134c79b73d83a48fc18145,
title = {Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation},
author = {Alessandro Mancinelli and Bart D. W. Remes and Guido C. H. E. De Croon and Ewoud J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/real-time-nonlinear-control-allocation-framework-for-vehicles-wit},
doi = {10.1007/s10846-023-01865-8},
issn = {0921-0296},
year = {2023},
date = {2023-01-01},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
volume = {108},
number = {4},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{3ac44b4fe76a4c5388e3a007df9df587,
title = {A Survey of Optimal Control Allocation for Aerial Vehicle Control},
author = {T. M. Blaha and E. J. J. Smeur and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/a-survey-of-optimal-control-allocation-for-aerial-vehicle-control},
doi = {10.3390/act12070282},
issn = {2076-0825},
year = {2023},
date = {2023-01-01},
journal = {Actuators},
volume = {12},
number = {7},
publisher = {MDPI},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{225489f0eb0b4c599f97b3ce63aac365,
title = {Lessons from natural flight for aviation: then, now and tomorrow},
author = {Christina Harvey and G. C. H. E. Croon and Graham K. Taylor and Richard J. Bomphrey},
url = {https://research.tudelft.nl/en/publications/lessons-from-natural-flight-for-aviation-then-now-and-tomorrow},
doi = {10.1242/jeb.245409},
issn = {0022-0949},
year = {2023},
date = {2023-01-01},
journal = {The Journal of Experimental Biology},
volume = {226},
number = {1},
publisher = {Company of Biologists Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{626768d7b4ef47a9bb9810e449320f2e,
title = {Microphones as Airspeed Sensors for Unmanned Aerial Vehicles},
author = {M. K. Makaveev and M. Snellen and E. J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/microphones-as-airspeed-sensors-for-unmanned-aerial-vehicles},
doi = {10.3390/s23052463},
issn = {1424-8220},
year = {2023},
date = {2023-01-01},
journal = {Sensors},
volume = {23},
number = {5},
publisher = {MDPI},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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.). @article{22345640e6c24a69b8cf85eedc8c3cad,
title = {Cross-disciplinary approaches for designing intelligent swarms of drones},
author = {G. C. H. E. Croon and W. Hönig and G. Theraulaz and G. Vásárhelyi},
url = {https://research.tudelft.nl/en/publications/cross-disciplinary-approaches-for-designing-intelligent-swarms-of},
doi = {10.1007/s11721-023-00223-6},
issn = {1935-3812},
year = {2023},
date = {2023-01-01},
journal = {Swarm Intelligence},
volume = {17},
number = {1-2},
pages = {1–4},
publisher = {Springer},
note = {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.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Jane Pauline Ramirez; Salua Hamaza Multimodal Locomotion: Next Generation Aerial–Terrestrial Mobile Robotics (Journal Article) In: Advanced Intelligent Systems, 2023, ISSN: 2640-4567, (Funding Information: This research is funded by the Delft University of Technology. Publisher Copyright: © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.). @article{9fb07c9259344be2a566ab9911723fc3,
title = {Multimodal Locomotion: Next Generation Aerial–Terrestrial Mobile Robotics},
author = {Jane Pauline Ramirez and Salua Hamaza},
url = {https://research.tudelft.nl/en/publications/multimodal-locomotion-next-generation-aerialterrestrial-mobile-ro},
doi = {10.1002/aisy.202300327},
issn = {2640-4567},
year = {2023},
date = {2023-01-01},
journal = {Advanced Intelligent Systems},
publisher = {Wiley},
note = {Funding Information: This research is funded by the Delft University of Technology. Publisher Copyright: © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Barbara Dix; Meng Li; Esther Roosenbrand; Colby Francoeur; Steven S. Brown; Jessica B. Gilman; Thomas F. Hanisco; J. Pepijn Veefkind; Pieternel F. Levelt; More Authors Sources of Formaldehyde in U.S. Oil and Gas Production Regions (Journal Article) In: ACS Earth and Space Chemistry, vol. 7, no. 12, pp. 2444–2457, 2023, ISSN: 2472-3452, (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.). @article{c7d3fcef0a4a4c27b0df42dc4f7e6037,
title = {Sources of Formaldehyde in U.S. Oil and Gas Production Regions},
author = {Barbara Dix and Meng Li and Esther Roosenbrand and Colby Francoeur and Steven S. Brown and Jessica B. Gilman and Thomas F. Hanisco and J. Pepijn Veefkind and Pieternel F. Levelt and More Authors},
url = {https://research.tudelft.nl/en/publications/sources-of-formaldehyde-in-us-oil-and-gas-production-regions},
doi = {10.1021/acsearthspacechem.3c00203},
issn = {2472-3452},
year = {2023},
date = {2023-01-01},
journal = {ACS Earth and Space Chemistry},
volume = {7},
number = {12},
pages = {2444–2457},
publisher = {American Chemical Society (ACS)},
note = {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.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S. Schröter; E. J. J. Smeur; B. D. W. Remes Design and Joint Control of a Conjoined Biplane and Quadrotor (Journal Article) In: Unmanned Systems, 2023, ISSN: 2301-3850. @article{25b011785cc942d1a7f9ec798d99b656,
title = {Design and Joint Control of a Conjoined Biplane and Quadrotor},
author = {S. Schröter and E. J. J. Smeur and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2},
doi = {10.1142/S2301385024430039},
issn = {2301-3850},
year = {2023},
date = {2023-01-01},
journal = {Unmanned Systems},
publisher = {World Scientific Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
E. J. J. Smeur; G. C. H. E. Croon; Q. Chu Corrigendum to “Cascaded incremental nonlinear dynamic inversion control for MAV disturbance rejection”[Journal of Control Engineering Practice 73 (2018) 79–90, (S0967066118300030), (10.1016/j.conengprac.2018.01.003)] (Journal Article) In: Control Engineering Practice, vol. 141, 2023, ISSN: 0967-0661. @article{49b721f7bfbb45c59d9a4cf9e938fe4c,
title = {Corrigendum to “Cascaded incremental nonlinear dynamic inversion control for MAV disturbance rejection”[Journal of Control Engineering Practice 73 (2018) 79–90, (S0967066118300030), (10.1016/j.conengprac.2018.01.003)]},
author = {E. J. J. Smeur and G. C. H. E. Croon and Q. Chu},
url = {https://research.tudelft.nl/en/publications/corrigendum-to-cascaded-incremental-nonlinear-dynamic-inversion-c},
doi = {10.1016/j.conengprac.2022.105093},
issn = {0967-0661},
year = {2023},
date = {2023-01-01},
journal = {Control Engineering Practice},
volume = {141},
publisher = {Elsevier},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Books
|
Stephen Pringle; Zoe G. Davies; Mark A. Goddard; Martin Dallimer; Emma Hart; Léni E. Le Goff; Simon J. Langdale; Sara-Adela Abad; S. Hamaza; More Authors Robotics and Autonomous Systems for Environmental Sustainability: Monitoring Terrestrial Biodiversity (Book) EPSRC UK-RAS Network, 2023. @book{808e66196aee41a6953d254d0c537f8f,
title = {Robotics and Autonomous Systems for Environmental Sustainability: Monitoring Terrestrial Biodiversity},
author = {Stephen Pringle and Zoe G. Davies and Mark A. Goddard and Martin Dallimer and Emma Hart and Léni E. Le Goff and Simon J. Langdale and Sara-Adela Abad and S. Hamaza and More Authors},
url = {https://research.tudelft.nl/en/publications/robotics-and-autonomous-systems-for-environmental-sustainability-},
doi = {10.31256/WP2023.4},
year = {2023},
date = {2023-01-01},
publisher = {EPSRC UK-RAS Network},
series = {UK-RAS White paper Series on Robotics and Autonomous Systems (RAS)},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Conferences
|
J. P. R Ramirez; A. Bredenbeck; S. Hamaza Bioinspired Compliant Limbs For Robust Landing Of Free-Flying Robots (Conference) 17th Symposium on Advanced Space Technologies in Robotics and Automation, ESA/ESTEC, 2023, (17th Symposium on Advanced Space Technologies in Robotics and Automation , ASTRA 2023 ; Conference date: 18-10-2023 Through 20-10-2023). @conference{9579553c9c0940e582ce18bdc4c3bac4,
title = {Bioinspired Compliant Limbs For Robust Landing Of Free-Flying Robots},
author = {J. P. R Ramirez and A. Bredenbeck and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/bioinspired-compliant-limbs-for-robust-landing-of-free-flying-rob},
year = {2023},
date = {2023-01-01},
booktitle = {17th Symposium on Advanced Space Technologies in Robotics and Automation},
publisher = {ESA/ESTEC},
note = {17th Symposium on Advanced Space Technologies in Robotics and Automation , ASTRA 2023 ; Conference date: 18-10-2023 Through 20-10-2023},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
Proceedings Articles
|
W. J. E. Völker; Y. Li; E. Kampen Twin-Delayed Deep Deterministic Policy Gradient for altitude control of a flying-wing aircraft with an uncertain aerodynamic model (Proceedings Article) In: AIAA SciTech Forum 2023, 2023, (AIAA SCITECH 2023 Forum ; Conference date: 23-01-2023 Through 27-01-2023). @inproceedings{9986a064454849c984e3794c73888ea5,
title = {Twin-Delayed Deep Deterministic Policy Gradient for altitude control of a flying-wing aircraft with an uncertain aerodynamic model},
author = {W. J. E. Völker and Y. Li and E. Kampen},
url = {https://research.tudelft.nl/en/publications/twin-delayed-deep-deterministic-policy-gradient-for-altitude-cont},
doi = {10.2514/6.2023-2678},
year = {2023},
date = {2023-01-01},
booktitle = {AIAA SciTech Forum 2023},
note = {AIAA SCITECH 2023 Forum ; Conference date: 23-01-2023 Through 27-01-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kartik Suryavanshi; S. Hamaza; V. Wijk; J. L. Herder ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications (Proceedings Article) In: Proceedings IEEE International Conference on Robotics and Automation, ICRA 2023, pp. 11936–11942, IEEE, United States, 2023, ISBN: 979-8-3503-2365-8, (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.; ICRA 2023: International Conference on Robotics and Automation ; Conference date: 29-05-2023 Through 02-06-2023). @inproceedings{7ad2db50f9d14b86aa3f42b3170cbb89,
title = {ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications},
author = {Kartik Suryavanshi and S. Hamaza and V. Wijk and J. L. Herder},
url = {https://research.tudelft.nl/en/publications/adapt-a-3-degrees-of-freedom-reconfigurable-force-balanced-parall},
doi = {10.1109/ICRA48891.2023.10160451},
isbn = {979-8-3503-2365-8},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings IEEE International Conference on Robotics and Automation, ICRA 2023},
pages = {11936–11942},
publisher = {IEEE},
address = {United States},
note = {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.; ICRA 2023: International Conference on Robotics and Automation ; Conference date: 29-05-2023 Through 02-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Anique Altena; Salil Luesutthiviboon; Guido Croon; Mirjam Snellen; Mark Voskuijl Comparison of acoustic localisation techniques for drone position estimation using real-world experimental data (Proceedings Article) In: Carletti, Eleonora (Ed.): Proceedings of the 29th International Congress on Sound and Vibration, ICSV 2023, Society of Acoustics, 2023, (29th International Congress on Sound and Vibration, ICSV 2023 : The annual congress of the International Institute of Acoustics and Vibrations (IIAV), ICSV 2023 ; Conference date: 09-07-2023 Through 13-07-2023). @inproceedings{5bee61754c1041e0bf5c60bb9d9c6640,
title = {Comparison of acoustic localisation techniques for drone position estimation using real-world experimental data},
author = {Anique Altena and Salil Luesutthiviboon and Guido Croon and Mirjam Snellen and Mark Voskuijl},
editor = {Eleonora Carletti},
url = {https://research.tudelft.nl/en/publications/comparison-of-acoustic-localisation-techniques-for-drone-position},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings of the 29th International Congress on Sound and Vibration, ICSV 2023},
publisher = {Society of Acoustics},
series = {Proceedings of the International Congress on Sound and Vibration},
note = {29th International Congress on Sound and Vibration, ICSV 2023 : The annual congress of the International Institute of Acoustics and Vibrations (IIAV), ICSV 2023 ; Conference date: 09-07-2023 Through 13-07-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Cheng Liu; Erik Jan Van Kampen; Guido C. H. E. De Croon Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning (Proceedings Article) In: Proceedings - ICRA 2023, pp. 7198–7204, Institute of Electrical and Electronics Engineers (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). @inproceedings{f53b6aea479944049cbfdcf6d5a85242,
title = {Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning},
author = {Cheng Liu and Erik Jan Van Kampen and Guido C. H. E. De Croon},
url = {https://research.tudelft.nl/en/publications/adaptive-risk-tendency-nano-drone-navigation-in-cluttered-environ},
doi = {10.1109/ICRA48891.2023.10160324},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {7198–7204},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Rik J. Bouwmeester; Federico Paredes-Valles; Guido C. H. E. De Croon NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter (Proceedings Article) In: Proceedings - ICRA 2023, pp. 1996–2003, Institute of Electrical and Electronics Engineers (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). @inproceedings{334f5d9a68de4ae9951aa8fd40c78215,
title = {NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter},
author = {Rik J. Bouwmeester and Federico Paredes-Valles and Guido C. H. E. De Croon},
url = {https://research.tudelft.nl/en/publications/nanoflownet-real-time-dense-optical-flow-on-a-nano-quadcopter},
doi = {10.1109/ICRA48891.2023.10161258},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {1996–2003},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Tom Suys; Sunyou Hwang; Guido C. H. E. De Croon; Bart D. W. Remes Autonomous Control for Orographic Soaring of Fixed-Wing UAVs (Proceedings Article) In: Proceedings - ICRA 2023, pp. 5338–5344, Institute of Electrical and Electronics Engineers (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). @inproceedings{415500ce291541629a377ea124756701,
title = {Autonomous Control for Orographic Soaring of Fixed-Wing UAVs},
author = {Tom Suys and Sunyou Hwang and Guido C. H. E. De Croon and Bart D. W. Remes},
url = {https://research.tudelft.nl/en/publications/autonomous-control-for-orographic-soaring-of-fixed-wing-uavs},
doi = {10.1109/ICRA48891.2023.10161578},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {5338–5344},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Hang Yu; Guido C. H. E. De Croon; Christophe De Wagter AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors (Proceedings Article) In: Proceedings - ICRA 2023, pp. 9183–9189, Institute of Electrical and Electronics Engineers (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). @inproceedings{75c3f28dc3b04b29b1a55dee7e293c6c,
title = {AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors},
author = {Hang Yu and Guido C. H. E. De Croon and Christophe De Wagter},
url = {https://research.tudelft.nl/en/publications/avoidbench-a-high-fidelity-vision-based-obstacle-avoidance-benchm},
doi = {10.1109/ICRA48891.2023.10161097},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {9183–9189},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Gervase H. L. H. Lovell-Prescod; Ziqing Ma; Ewoud J. J. Smeur Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control (Proceedings Article) In: 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, pp. 842–849, Institute of Electrical and Electronics Engineers (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 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023). @inproceedings{a88cfd41042941a8b45884b15e533e37,
title = {Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control},
author = {Gervase H. L. H. Lovell-Prescod and Ziqing Ma and Ewoud J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/attitude-control-of-a-tilt-rotor-tailsitter-micro-air-vehicle-usi},
doi = {10.1109/ICUAS57906.2023.10156272},
year = {2023},
date = {2023-01-01},
booktitle = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
pages = {842–849},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
note = {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 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
T. M. L. De Ponti; E. J. J. Smeur; B. W. D. Remes Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane (Proceedings Article) In: 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, pp. 241–248, Institute of Electrical and Electronics Engineers (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 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023). @inproceedings{50cd2bc361cb4e898f01eceee9d0ce3e,
title = {Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane},
author = {T. M. L. De Ponti and E. J. J. Smeur and B. W. D. Remes},
url = {https://research.tudelft.nl/en/publications/incremental-nonlinear-dynamic-inversion-controller-for-a-variable},
doi = {10.1109/ICUAS57906.2023.10156289},
year = {2023},
date = {2023-01-01},
booktitle = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
pages = {241–248},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
note = {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 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Y. Li; E. Kampen Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration (Proceedings Article) In: 2023 IEEE International Conference on Mechatronics, 2023, ISBN: 978-1-6654-6662-2, (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 Mechatronics (ICM), ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023). @inproceedings{ebf0380245084d5297f59cd586dab35d,
title = {Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration},
author = {Y. Li and E. Kampen},
url = {https://research.tudelft.nl/en/publications/adaptive-optimal-flight-control-for-a-fixed-wing-unmanned-aerial-},
doi = {10.1109/ICM54990.2023.10101984},
isbn = {978-1-6654-6662-2},
year = {2023},
date = {2023-01-01},
booktitle = {2023 IEEE International Conference on Mechatronics},
series = {Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023},
note = {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 Mechatronics (ICM), ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Salil Luesutthiviboon; Guido C. H. E. Croon; Anique V. N. Altena; Mirjam Snellen; Mark Voskuijl Bio-inspired enhancement for optical detection of drones using convolutional neural networks (Proceedings Article) In: Bouma, Henri; Dijk, Judith; Prabhu, Radhakrishna; Stokes, Robert J.; Yitzhaky, Yitzhak (Ed.): Artificial Intelligence for Security and Defence Applications, SPIE, United States, 2023, (Funding Information: This work is part of the “ACTION” [ACoustic detecTION of class I (< 25 kg) unmanned aircraft systems supported by optical sensors] project, funded by the Dutch Ministry of Defence. The authors also would like to thank Fredrik Svanström for answering questions regarding the dataset. ; Artificial Intelligence for Security and Defence Applications 2023 ; Conference date: 04-09-2023 Through 05-09-2023). @inproceedings{01ad41b1fd7048f99c61d1732fecebe7,
title = {Bio-inspired enhancement for optical detection of drones using convolutional neural networks},
author = {Salil Luesutthiviboon and Guido C. H. E. Croon and Anique V. N. Altena and Mirjam Snellen and Mark Voskuijl},
editor = {Henri Bouma and Judith Dijk and Radhakrishna Prabhu and Robert J. Stokes and Yitzhak Yitzhaky},
url = {https://research.tudelft.nl/en/publications/bio-inspired-enhancement-for-optical-detection-of-drones-using-co},
doi = {10.1117/12.2673788},
year = {2023},
date = {2023-01-01},
booktitle = {Artificial Intelligence for Security and Defence Applications},
publisher = {SPIE},
address = {United States},
series = {Proceedings of SPIE - The International Society for Optical Engineering},
note = {Funding Information: This work is part of the “ACTION” [ACoustic detecTION of class I (< 25 kg) unmanned aircraft systems supported by optical sensors] project, funded by the Dutch Ministry of Defence. The authors also would like to thank Fredrik Svanström for answering questions regarding the dataset. ; Artificial Intelligence for Security and Defence Applications 2023 ; Conference date: 04-09-2023 Through 05-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Y. Xu; G. C. H. E. Croon Efficient Model-Aided Visual-Inertial Ego-Motion Estimation for Multirotor MAVs (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 93–100, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{c07670f77ee44a18a0f0d3366d99ac8f,
title = {Efficient Model-Aided Visual-Inertial Ego-Motion Estimation for Multirotor MAVs},
author = {Y. Xu and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/efficient-model-aided-visual-inertial-ego-motion-estimation-for-m},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {93–100},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S. U. Pfeiffer; C. Wagter; G. C. H. E. Croon Improved Moving Horizon Estimation for Ultra-Wideband Localization on Small Drones (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 86–92, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{641858a730794a14b3240c96bc9b5135,
title = {Improved Moving Horizon Estimation for Ultra-Wideband Localization on Small Drones},
author = {S. U. Pfeiffer and C. Wagter and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/improved-moving-horizon-estimation-for-ultra-wideband-localizatio},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {86–92},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
R. S. Meester; Tom Dijk; C. Wagter; G. C. H. E. Croon Frustumbug: a 3D mapless stereo-vision-based bug algorithm for Micro Air Vehicles (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 73–85, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{825121c5b2c843acac522672d837bc3b,
title = {Frustumbug: a 3D mapless stereo-vision-based bug algorithm for Micro Air Vehicles},
author = {R. S. Meester and Tom Dijk and C. Wagter and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/frustumbug-a-3d-mapless-stereo-vision-based-bug-algorithm-for-mic},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {73–85},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Y. Xu; G. C. H. E. Croon A Lightweight Learning-based Visual-Inertial Odometry (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 65–72, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{8cbd0a44794046f59f9dec1c21dbd2f4,
title = {A Lightweight Learning-based Visual-Inertial Odometry},
author = {Y. Xu and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/a-lightweight-learning-based-visual-inertial-odometry},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {65–72},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Stein Stroobants; Christophe De Wagter; Guido De Croon Neuromorphic Control using Input-Weighted Threshold Adaptation (Proceedings Article) In: ICONS 2023 - Proceedings of International Conference on Neuromorphic Systems 2023, Association for Computing Machinery (ACM), United States, 2023, (2023 International Conference on Neuromorphic Systems, ICONS 2023 ; Conference date: 01-08-2023 Through 03-08-2023). @inproceedings{ac4eb69e8c824ac8af6e7a02083f6a1c,
title = {Neuromorphic Control using Input-Weighted Threshold Adaptation},
author = {Stein Stroobants and Christophe De Wagter and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/neuromorphic-control-using-input-weighted-threshold-adaptation},
doi = {10.1145/3589737.3605963},
year = {2023},
date = {2023-01-01},
booktitle = {ICONS 2023 - Proceedings of International Conference on Neuromorphic Systems 2023},
publisher = {Association for Computing Machinery (ACM)},
address = {United States},
series = {ACM International Conference Proceeding Series},
note = {2023 International Conference on Neuromorphic Systems, ICONS 2023 ; Conference date: 01-08-2023 Through 03-08-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
A. Mancinelli; E. Horst; B. D. W. Remes; E. J. J. Smeur Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 109–116, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{2cf15cba675345f38f241c4f06cc8b07,
title = {Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions},
author = {A. Mancinelli and E. Horst and B. D. W. Remes and E. J. J. Smeur},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/autopilot-framework-with-indi-rpm-control-real-time-actuator-feed},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {109–116},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J. J. E. Laffita van den Hove d'Ertsenryck; E. J. J. Smeur; B. D. W. Remes Rigid Airborne docking between a fixed-wing UAV and an over-actuated multicopter (Proceedings Article) In: Proceedings of the 14th annual international micro air vehicle conference and competition, pp. 231–239, 2023. @inproceedings{706644d14f28482a8add65d7be4d4e68,
title = {Rigid Airborne docking between a fixed-wing UAV and an over-actuated multicopter},
author = {J. J. E. Laffita van den Hove d'Ertsenryck and E. J. J. Smeur and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/rigid-airborne-docking-between-a-fixed-wing-uav-and-an-over-actua},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings of the 14th annual international micro air vehicle conference and competition},
pages = {231–239},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
Momchil Makaveev Microphones as Airspeed Sensors for Micro Air Vehicles (Masters Thesis) TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:90916a92-95bc-44eb-889e-81555ddd494f,
title = {Microphones as Airspeed Sensors for Micro Air Vehicles},
author = {Momchil Makaveev},
url = {http://resolver.tudelft.nl/uuid:90916a92-95bc-44eb-889e-81555ddd494f},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {This project proposes and evaluates a novel concept for an airspeed instrument aimed at small hybrid unmanned aerial vehicles. The working principle is to relate the power spectra of the wall-pressure fluctuations beneath the turbulent boundary layer formed over the vehicle’s body to its airspeed. The instrument consists of two microphones, flush mounted on the UAV’s nose cone, that capture the pseudo-sound caused by the coherent turbulent structures, and a micro-controller that processes the signals from the microphones and computes the airspeed. Dedicated models were constructed, using data obtained from wind tunnel and flight experiments, that take the power spectra of the microphones’ signals as an input and provide the airspeed as an output. The model structure is a feed-forward neural network with a single hidden layer, trained using a second-order gradient descent algorithm, following a supervised learning approach. The models were validated using only flight data, with the best one achieving a mean approximation error of 0.043 m/s and having a standard deviation of 1.039 m/s. It was also shown that the airspeed could be successfully predicted for a wide range of angles of attack, given that they are known, thus necessitating the vehicle to be equipped with a dedicated angle of attack sensor.},
note = {Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This project proposes and evaluates a novel concept for an airspeed instrument aimed at small hybrid unmanned aerial vehicles. The working principle is to relate the power spectra of the wall-pressure fluctuations beneath the turbulent boundary layer formed over the vehicle’s body to its airspeed. The instrument consists of two microphones, flush mounted on the UAV’s nose cone, that capture the pseudo-sound caused by the coherent turbulent structures, and a micro-controller that processes the signals from the microphones and computes the airspeed. Dedicated models were constructed, using data obtained from wind tunnel and flight experiments, that take the power spectra of the microphones’ signals as an input and provide the airspeed as an output. The model structure is a feed-forward neural network with a single hidden layer, trained using a second-order gradient descent algorithm, following a supervised learning approach. The models were validated using only flight data, with the best one achieving a mean approximation error of 0.043 m/s and having a standard deviation of 1.039 m/s. It was also shown that the airspeed could be successfully predicted for a wide range of angles of attack, given that they are known, thus necessitating the vehicle to be equipped with a dedicated angle of attack sensor. |
Ruben Meester Frustumbug: a 3D Mapless Stereo-Vision-based Bug Algorithm for Micro Air Vehicles (Masters Thesis) TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Verhoeven, C.J.M. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:f5c8a6b4-a43b-43f1-9a2d-72d850515369,
title = {Frustumbug: a 3D Mapless Stereo-Vision-based Bug Algorithm for Micro Air Vehicles},
author = {Ruben Meester},
url = {http://resolver.tudelft.nl/uuid:f5c8a6b4-a43b-43f1-9a2d-72d850515369},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {We present a computationally cheap 3D bug algorithm for drones, using stereo vision. Obstacle avoidance is important, but difficult for robots with limited resources, such as drones. Stereo vision requires less weight and power than active distance measurement sensors, but typically has a limited Field of View (FoV). In addition, the stereo camera is fixed on the drone, preventing sensor movement. For obstacle avoidance, bug algorithms require few resources. We base our proposed algorithm, Frustumbug, on the Wedgebug algorithm, since this bug algorithm copes with a limited FoV. Since Wedgebug only focuses on 2D problems, the Local-epsilon-Tangent-Graph (LETG) is used to extend the path planning to 3D. Disparity images are obtained through an optimised stereo block matching algorithm. Obstacles are expanded in disparity space to obtain the configuration space. Furthermore, Frustumbug has an improved robustness to noisy range sensor data, and includes reversing, climbing and descending manoeuvres to avoid or escape local minima. The algorithm has been extensively tested with 225 flights in two challenging simulated environments, with a success rate of 96%. Here, 3.6% did not reach the goal and 0.4% collided. Frustumbug has been implemented on a 20 gram stereo vision system, and guides drones safely around obstacles in the real world, showing its potential for small drones to reach their targets fully autonomously.},
note = {de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Verhoeven, C.J.M. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We present a computationally cheap 3D bug algorithm for drones, using stereo vision. Obstacle avoidance is important, but difficult for robots with limited resources, such as drones. Stereo vision requires less weight and power than active distance measurement sensors, but typically has a limited Field of View (FoV). In addition, the stereo camera is fixed on the drone, preventing sensor movement. For obstacle avoidance, bug algorithms require few resources. We base our proposed algorithm, Frustumbug, on the Wedgebug algorithm, since this bug algorithm copes with a limited FoV. Since Wedgebug only focuses on 2D problems, the Local-epsilon-Tangent-Graph (LETG) is used to extend the path planning to 3D. Disparity images are obtained through an optimised stereo block matching algorithm. Obstacles are expanded in disparity space to obtain the configuration space. Furthermore, Frustumbug has an improved robustness to noisy range sensor data, and includes reversing, climbing and descending manoeuvres to avoid or escape local minima. The algorithm has been extensively tested with 225 flights in two challenging simulated environments, with a success rate of 96%. Here, 3.6% did not reach the goal and 0.4% collided. Frustumbug has been implemented on a 20 gram stereo vision system, and guides drones safely around obstacles in the real world, showing its potential for small drones to reach their targets fully autonomously. |
Raoul Mink Deep Vision-based Relative Localisation by Monocular Drones (Masters Thesis) TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); de Wagter, C. (graduation committee); Zarouchas, D. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:3e922cc4-83a0-43aa-a223-a67e554d2e92,
title = {Deep Vision-based Relative Localisation by Monocular Drones},
author = {Raoul Mink},
url = {http://resolver.tudelft.nl/uuid:3e922cc4-83a0-43aa-a223-a67e554d2e92},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Decentralised drone swarms need real time collision avoidance, thus requiring efficient, real time relative localisation. This paper explores different data inputs for vision based relative localisation. It introduces a novel dataset generated in \textit{Blender}, providing ground truth optic flow and depth. Comparisons to \textit{MPI Sintel}, an industry/research standard optic flow dataset, show it to be a challenging and realistic dataset. Two Deep Neural Network (DNN) architectures (YOLOv3 & U-Net) were trained on this data, comparing optic flow to colour images for relative positioning. The results indicate that using optic flow provides a significant advantage in relative localisation. The flow based YOLOv3 had an mAP of 48%, 9% better than the RGB based YOLOv3, and 23% better than its equivalent U-Net. Its IoU_{0.5} of 63% was also 14% better than the RGB based YOLOv3, and 51% than its equivalent U-Net. As an input, it generalises better than RGB, as test clips with variant drones show. For these variants, the optical flow based networks outperformed the RGB based networks by a factor of 10.},
note = {de Croon, G.C.H.E. (mentor); de Wagter, C. (graduation committee); Zarouchas, D. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Decentralised drone swarms need real time collision avoidance, thus requiring efficient, real time relative localisation. This paper explores different data inputs for vision based relative localisation. It introduces a novel dataset generated in Blender, providing ground truth optic flow and depth. Comparisons to MPI Sintel, an industry/research standard optic flow dataset, show it to be a challenging and realistic dataset. Two Deep Neural Network (DNN) architectures (YOLOv3 & U-Net) were trained on this data, comparing optic flow to colour images for relative positioning. The results indicate that using optic flow provides a significant advantage in relative localisation. The flow based YOLOv3 had an mAP of 48%, 9% better than the RGB based YOLOv3, and 23% better than its equivalent U-Net. Its IoU0.5 of 63% was also 14% better than the RGB based YOLOv3, and 51% than its equivalent U-Net. As an input, it generalises better than RGB, as test clips with variant drones show. For these variants, the optical flow based networks outperformed the RGB based networks by a factor of 10. |
Till Blaha Computationally Efficient Control Allocation Using Active-Set Algorithms (Masters Thesis) TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:bffb47bf-5864-4b18-921b-588b3a664866,
title = {Computationally Efficient Control Allocation Using Active-Set Algorithms},
author = {Till Blaha},
url = {http://resolver.tudelft.nl/uuid:bffb47bf-5864-4b18-921b-588b3a664866},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {An effective distribution of flight control commands over many aircraft actuators (engines, control surfaces, flaps, etc.) can be achieved with constrained optimisation. Active-Set methods solve these problems efficiently, but their computational time requirements are still prohibitive for aircraft with many actuators or slower digital flight control processors. This work shows how these methods can be improved in these regards, by updating the required matrix factorisations at lower computational costs, rather than solving a separate optimisation problem at every step of the iterative algorithm. Additionally, it is shown how the sparsity of the problem matrices can be exploited. Both open-loop simulations and flight tests have been performed, which show that worst-case timings for a 6-rotor multicopter UAV can be improved by 65% over a current Active-Set solver. Furthermore, methods are presented that remedy numerical stability issues occurring in micro-controller floating point arithmetic but introduce a small but measurable adverse effect on the flight behaviour.},
note = {Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
An effective distribution of flight control commands over many aircraft actuators (engines, control surfaces, flaps, etc.) can be achieved with constrained optimisation. Active-Set methods solve these problems efficiently, but their computational time requirements are still prohibitive for aircraft with many actuators or slower digital flight control processors. This work shows how these methods can be improved in these regards, by updating the required matrix factorisations at lower computational costs, rather than solving a separate optimisation problem at every step of the iterative algorithm. Additionally, it is shown how the sparsity of the problem matrices can be exploited. Both open-loop simulations and flight tests have been performed, which show that worst-case timings for a 6-rotor multicopter UAV can be improved by 65% over a current Active-Set solver. Furthermore, methods are presented that remedy numerical stability issues occurring in micro-controller floating point arithmetic but introduce a small but measurable adverse effect on the flight behaviour. |