2023
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Journal Articles
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Andrew J. King; Steven J. Portugal; Daniel Strömbom; Richard P. Mann; José A. Carrillo; Dante Kalise; Guido Croon; Heather Barnett; Paul Scerri; More Authors Biologically inspired herding of animal groups by robots (Journal Article) In: Methods in Ecology and Evolution, 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},
publisher = {John Wiley & Sons},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
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Inproceedings
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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 (Inproceedings) 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}
}
|
Masters Theses
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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. |
Xander Beurden Stability control and positional water jet placement for a novel tethered unmanned hydro-propelled aerial vehicle using real-time water jet detection (Masters Thesis) TU Delft Aerospace Engineering, 2023, (de Wagter, C. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:a4f3199c-71f6-4182-bd98-30db62db8018,
title = {Stability control and positional water jet placement for a novel tethered unmanned hydro-propelled aerial vehicle using real-time water jet detection},
author = {Xander Beurden},
url = {http://resolver.tudelft.nl/uuid:a4f3199c-71f6-4182-bd98-30db62db8018},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Aerial platforms designed for water jet placement are gaining interest in the areas of fire-fighting, washing, and irrigation. A novel, lightweight, and simplistic design is proposed that reduces the number of actuators and limits ineffective water discharge. External camera feedback was used for position control as a first step towards autonomous flight. An initial prototype of an unmanned hydro-propelled aerial vehicle (UHAV) connected to a water hose was designed and fabricated. Flight tests were conducted to show that attitude control with uniaxial thrust-vectoring of two nozzles was impossible due to undamped vibrations and coupling effects. By redesigning the PID controller, pitch rate damping was accomplished. Furthermore, a design trade-off led to the introduction of a canting keel to reduce bank-yaw coupling effects due to asymmetric nozzle deflections. Flight tests proved that the iterated design with a hose length of 3m was capable of disturbance rejection and setpoint tracking. An external camera was used to show that the Lucas-Kanade optical flow algorithm and the implementation of the YOLOv5 segmentation model can be used for positional water jet placement. By increasing the pitch rate damping, improving the water jet detection algorithm and implementing a cost function for water discharge at the area of interest, autonomous missions can be flown in the future.},
note = {de Wagter, C. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Aerial platforms designed for water jet placement are gaining interest in the areas of fire-fighting, washing, and irrigation. A novel, lightweight, and simplistic design is proposed that reduces the number of actuators and limits ineffective water discharge. External camera feedback was used for position control as a first step towards autonomous flight. An initial prototype of an unmanned hydro-propelled aerial vehicle (UHAV) connected to a water hose was designed and fabricated. Flight tests were conducted to show that attitude control with uniaxial thrust-vectoring of two nozzles was impossible due to undamped vibrations and coupling effects. By redesigning the PID controller, pitch rate damping was accomplished. Furthermore, a design trade-off led to the introduction of a canting keel to reduce bank-yaw coupling effects due to asymmetric nozzle deflections. Flight tests proved that the iterated design with a hose length of 3m was capable of disturbance rejection and setpoint tracking. An external camera was used to show that the Lucas-Kanade optical flow algorithm and the implementation of the YOLOv5 segmentation model can be used for positional water jet placement. By increasing the pitch rate damping, improving the water jet detection algorithm and implementing a cost function for water discharge at the area of interest, autonomous missions can be flown in the future. |
Miscellaneous
|
Hang Yu; Guido C. H. E Croon; Christophe De Wagter AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors (Miscellaneous) 2023. @misc{2301.07430,
title = {AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors},
author = {Hang Yu and Guido C. H. E Croon and Christophe De Wagter},
url = {https://arxiv.org/abs/2301.07430},
year = {2023},
date = {2023-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
2022
|
Journal Articles
|
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, 2022, 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 = {2022},
date = {2022-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Brett Stephens; Hai-Nguyen Nguyen; S. Hamaza; Mirko Kovac An Integrated Framework for Autonomous Sensor Placement With Aerial Robots (Journal Article) In: IEEE - ASME Transactions on Mechatronics, pp. 1–12, 2022, ISSN: 1083-4435. @article{9c95a351584c4d5c918bc7b2ffe981ea,
title = {An Integrated Framework for Autonomous Sensor Placement With Aerial Robots},
author = {Brett Stephens and Hai-Nguyen Nguyen and S. Hamaza and Mirko Kovac},
url = {https://research.tudelft.nl/en/publications/an-integrated-framework-for-autonomous-sensor-placement-with-aeri-2},
doi = {10.1109/TMECH.2022.3202116},
issn = {1083-4435},
year = {2022},
date = {2022-01-01},
journal = {IEEE - ASME Transactions on Mechatronics},
pages = {1--12},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Sven Pfeiffer; Veronica Munaro; Shushuai Li; Alessandro Rizzo; Guido C. H. E. Croon Three-dimensional relative localization and synchronized movement with wireless ranging (Journal Article) In: Swarm Intelligence, 2022, 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{e1cd4276e8ee4c9bb302d49094774c6e,
title = {Three-dimensional relative localization and synchronized movement with wireless ranging},
author = {Sven Pfeiffer and Veronica Munaro and Shushuai Li and Alessandro Rizzo and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/three-dimensional-relative-localization-and-synchronized-movement},
doi = {10.1007/s11721-022-00221-0},
issn = {1935-3812},
year = {2022},
date = {2022-01-01},
journal = {Swarm Intelligence},
publisher = {Springer Science+Business Media},
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}
}
|
C. Wang; S. Wang; G. C. H. E. Croon; S. Hamaza Embodied airflow sensing for improved in-gust flight of flapping wing MAVs (Journal Article) In: Frontiers In Robotics and AI, vol. 9, 2022, ISSN: 2296-9144. @article{5c6513c332d341fb8b8ea5e591a3218f,
title = {Embodied airflow sensing for improved in-gust flight of flapping wing MAVs},
author = {C. Wang and S. Wang and G. C. H. E. Croon and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/embodied-airflow-sensing-for-improved-in-gust-flight-of-flapping-},
doi = {10.3389/frobt.2022.1060933},
issn = {2296-9144},
year = {2022},
date = {2022-01-01},
journal = {Frontiers In Robotics and AI},
volume = {9},
publisher = {Frontiers Media},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Guido C. H. E. Croon; Julien J. G. Dupeyroux; Christophe De Wagter; Abhishek Chatterjee; Diana A. Olejnik; Franck Ruffier Accommodating unobservability to control flight attitude with optic flow (Journal Article) In: Nature: international weekly journal of science, vol. 610, no. 7932, pp. 485–490, 2022, ISSN: 0028-0836. @article{9316707c556e401e975dded2a99abdf7,
title = {Accommodating unobservability to control flight attitude with optic flow},
author = {Guido C. H. E. Croon and Julien J. G. Dupeyroux and Christophe De Wagter and Abhishek Chatterjee and Diana A. Olejnik and Franck Ruffier},
url = {https://research.tudelft.nl/en/publications/accommodating-unobservability-to-control-flight-attitude-with-opt},
doi = {10.1038/s41586-022-05182-2},
issn = {0028-0836},
year = {2022},
date = {2022-01-01},
journal = {Nature: international weekly journal of science},
volume = {610},
number = {7932},
pages = {485--490},
publisher = {Nature Publishing Group},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S. Stroobants; J. J. G. Dupeyroux; G. C. H. E. Croon Neuromorphic computing for attitude estimation onboard quadrotors (Journal Article) In: Neuromorphic Computing and Engineering, vol. 2, no. 3, 2022, ISSN: 2634-4386. @article{6cab4d240eb14224a4b4cae6ea882878,
title = {Neuromorphic computing for attitude estimation onboard quadrotors},
author = {S. Stroobants and J. J. G. Dupeyroux and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/neuromorphic-computing-for-attitude-estimation-onboard-quadrotors},
doi = {10.1088/2634-4386/ac7ee0},
issn = {2634-4386},
year = {2022},
date = {2022-01-01},
journal = {Neuromorphic Computing and Engineering},
volume = {2},
number = {3},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S. Wang; D. A. Olejnik; C. Wagter; B. W. Oudheusden; G. C. H. E. Croon; S. Hamaza Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle Under Wind Disturbance With Onboard Thermistor-Based Airflow Sensing (Journal Article) In: IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9605–9612, 2022, 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{35039de1a63c435297d58e2a46946390,
title = {Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle Under Wind Disturbance With Onboard Thermistor-Based Airflow Sensing},
author = {S. Wang and D. A. Olejnik and C. Wagter and B. W. Oudheusden and G. C. H. E. Croon and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/battle-the-wind-improving-flight-stability-of-a-flapping-wing-mic},
doi = {10.1109/LRA.2022.3190609},
issn = {2377-3766},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {4},
pages = {9605--9612},
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}
}
|
Jelle Westenberger; Christophe De Wagter; Guido C. H. E. Croon Efficient Bang-Bang Model Predictive Control for Quadcopters (Journal Article) In: Unmanned Systems, vol. 10, no. 4, pp. 395–405, 2022, 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.). @article{9260a4a7628a4820aeff6521d2c1760e,
title = {Efficient Bang-Bang Model Predictive Control for Quadcopters},
author = {Jelle Westenberger and Christophe De Wagter and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/efficient-bang-bang-model-predictive-control-for-quadcopters},
doi = {10.1142/S2301385022410060},
issn = {2301-3850},
year = {2022},
date = {2022-01-01},
journal = {Unmanned Systems},
volume = {10},
number = {4},
pages = {395--405},
publisher = {World Scientific Publishing},
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}
}
|
Ziqing Ma; Ewoud J. J. Smeur; Guido C. H. E. Croon Wind tunnel tests of a wing at all angles of attack (Journal Article) In: International Journal of Micro Air Vehicles, vol. 14, 2022, ISSN: 1756-8293. @article{4f51eaa88d1546f786cc4da23f61ee5f,
title = {Wind tunnel tests of a wing at all angles of attack},
author = {Ziqing Ma and Ewoud J. J. Smeur and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/wind-tunnel-tests-of-a-wing-at-all-angles-of-attack},
doi = {10.1177/17568293221110931},
issn = {1756-8293},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {14},
publisher = {Multi-Science Publishing Co. Ltd},
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|
Ye Zhou; Hann Woei Ho Online robot guidance and navigation in non-stationary environment with hybrid Hierarchical Reinforcement Learning (Journal Article) In: Engineering Applications of Artificial Intelligence, vol. 114, 2022, ISSN: 0952-1976, (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{0797bee50a87478484d0335d6604b4c2,
title = {Online robot guidance and navigation in non-stationary environment with hybrid Hierarchical Reinforcement Learning},
author = {Ye Zhou and Hann Woei Ho},
url = {https://research.tudelft.nl/en/publications/online-robot-guidance-and-navigation-in-non-stationary-environmen},
doi = {10.1016/j.engappai.2022.105152},
issn = {0952-1976},
year = {2022},
date = {2022-01-01},
journal = {Engineering Applications of Artificial Intelligence},
volume = {114},
publisher = {Elsevier},
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}
}
|
Guillermo Gonzalez; Guido C. H. E. De Croon; Diana Olejnik; Matej Karásek Position Controller for a Flapping-Wing Drone Using UWB (Journal Article) In: Unmanned Systems, vol. 10, no. 4, pp. 383–394, 2022, ISSN: 2301-3850. @article{d64f6594338b4247b6ddf73a1877c05e,
title = {Position Controller for a Flapping-Wing Drone Using UWB},
author = {Guillermo Gonzalez and Guido C. H. E. De Croon and Diana Olejnik and Matej Karásek},
url = {https://research.tudelft.nl/en/publications/position-controller-for-a-flapping-wing-drone-using-uwb},
doi = {10.1142/S2301385022410059},
issn = {2301-3850},
year = {2022},
date = {2022-01-01},
journal = {Unmanned Systems},
volume = {10},
number = {4},
pages = {383--394},
publisher = {World Scientific Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
M. Gossye; S. Hwang; B. D. W. Remes Developing a Modular Tool to Simulate Regeneration Power Potential Using Orographic Wind-hovering UAVs (Journal Article) In: Unmanned Systems, vol. 10, no. 4, pp. 369–381, 2022, 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.). @article{083329e75a0e4a568b2575722184b88f,
title = {Developing a Modular Tool to Simulate Regeneration Power Potential Using Orographic Wind-hovering UAVs},
author = {M. Gossye and S. Hwang and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/developing-a-modular-tool-to-simulate-regeneration-power-potentia},
doi = {10.1142/S2301385022410047},
issn = {2301-3850},
year = {2022},
date = {2022-01-01},
journal = {Unmanned Systems},
volume = {10},
number = {4},
pages = {369--381},
publisher = {World Scientific Publishing},
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}
}
|
Hanjie Jiang; Ye Zhou; Hann Woei Ho Aerodynamic design and evaluation of a ducted fan lift system for vertical takeoff and landing flying cars (Journal Article) In: Institution of Mechanical Engineers. Proceedings. Part A: Journal of Power and Energy, 2022, ISSN: 0957-6509, (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{5d62b73fd4d44e0b84509e76e06af08e,
title = {Aerodynamic design and evaluation of a ducted fan lift system for vertical takeoff and landing flying cars},
author = {Hanjie Jiang and Ye Zhou and Hann Woei Ho},
url = {https://research.tudelft.nl/en/publications/aerodynamic-design-and-evaluation-of-a-ducted-fan-lift-system-for},
doi = {10.1177/09576509221106395},
issn = {0957-6509},
year = {2022},
date = {2022-01-01},
journal = {Institution of Mechanical Engineers. Proceedings. Part A: Journal of Power and Energy},
publisher = {SAGE Publications},
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}
}
|
G. C. H. E. Croon; J. J. G. Dupeyroux; S. B. Fuller; J. A. R. Marshall Insect-inspired AI for autonomous robots (Journal Article) In: Science Robotics, vol. 7, no. 67, pp. eabl6334, 2022, ISSN: 2470-9476. @article{0553059a817f4b03988baa78a698c25c,
title = {Insect-inspired AI for autonomous robots},
author = {G. C. H. E. Croon and J. J. G. Dupeyroux and S. B. Fuller and J. A. R. Marshall},
url = {https://research.tudelft.nl/en/publications/insect-inspired-ai-for-autonomous-robots},
doi = {10.1126/scirobotics.abl6334},
issn = {2470-9476},
year = {2022},
date = {2022-01-01},
journal = {Science Robotics},
volume = {7},
number = {67},
pages = {eabl6334},
publisher = {American Association for the Advancement of Science},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
D. A. Olejnik; Florian T. Muijres; M. Karasek; Leonardo Honfi Camilo; C. Wagter; G. C. H. E. Croon Flying Into the Wind: Insects and Bio-Inspired Micro-Air-Vehicles With a Wing-Stroke Dihedral Steer Passively Into Wind-Gusts (Journal Article) In: Frontiers In Robotics and AI, vol. 9, 2022, ISSN: 2296-9144. @article{32e40eb562b642e58e35830f47573640,
title = {Flying Into the Wind: Insects and Bio-Inspired Micro-Air-Vehicles With a Wing-Stroke Dihedral Steer Passively Into Wind-Gusts},
author = {D. A. Olejnik and Florian T. Muijres and M. Karasek and Leonardo Honfi Camilo and C. Wagter and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/flying-into-the-wind-insects-and-bio-inspired-micro-air-vehicles-},
doi = {10.3389/frobt.2022.820363},
issn = {2296-9144},
year = {2022},
date = {2022-01-01},
journal = {Frontiers In Robotics and AI},
volume = {9},
publisher = {Frontiers Media},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
H. J. Karssies; C. De Wagter Extended incremental non-linear control allocation (XINCA) for quadplanes (Journal Article) In: International Journal of Micro Air Vehicles, vol. 14, 2022, ISSN: 1756-8293. @article{5c6e7f75eb3f435583517ed6b67d6cf3,
title = {Extended incremental non-linear control allocation (XINCA) for quadplanes},
author = {H. J. Karssies and C. De Wagter},
url = {https://research.tudelft.nl/en/publications/extended-incremental-non-linear-control-allocation-xinca-for-quad},
doi = {10.1177/17568293211070825},
issn = {1756-8293},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {14},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Shushuai Li; Christophe De Wagter; Guido C. H. E. Croon Nonlinear model predictive control for improving range-based relative localization by maximizing observability (Journal Article) In: International Journal of Micro Air Vehicles, vol. 14, 2022, ISSN: 1756-8293. @article{513b2c4204f648e29ef10cff707e6cd2,
title = {Nonlinear model predictive control for improving range-based relative localization by maximizing observability},
author = {Shushuai Li and Christophe De Wagter and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/nonlinear-model-predictive-control-for-improving-range-based-rela-2},
doi = {10.1177/17568293211073680},
issn = {1756-8293},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {14},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
David Benjamin De Jong; Federico Paredes-Valles; Guido Cornelis Henricus Eugene De Croon How Do Neural Networks Estimate Optical Flow A Neuropsychology-Inspired Study (Journal Article) In: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 44, no. 11, pp. 8290–8305, 2022, ISSN: 0162-8828, (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{3ef12fc1f8e0473ea7c806357e54061a,
title = {How Do Neural Networks Estimate Optical Flow A Neuropsychology-Inspired Study},
author = {David Benjamin De Jong and Federico Paredes-Valles and Guido Cornelis Henricus Eugene De Croon},
url = {https://research.tudelft.nl/en/publications/how-do-neural-networks-estimate-optical-flow-a-neuropsychology-in},
doi = {10.1109/TPAMI.2021.3083538},
issn = {0162-8828},
year = {2022},
date = {2022-01-01},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {44},
number = {11},
pages = {8290--8305},
publisher = {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}
}
|
Books
|
G. C. H. E. Croon What nature can teach us about drones and what drones can teach us about nature” (Book) 2022. @book{90622b4a8d5f4028bdc7b34f862df0e8,
title = {What nature can teach us about drones and what drones can teach us about nature”},
author = {G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/what-nature-can-teach-us-about-drones-and-what-drones-can-teach-u},
year = {2022},
date = {2022-01-01},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Book Chapters
|
Fabian Arzberger; Jasper Zevering; A. Bredenbeck; Dorit Borrmann; Andreas Nüchter Unconventional Trajectories for Mobile 3D Scanning and Mapping (Book Chapter) In: Autonomous Mobile Mapping Robots [Working Title], IntechOpen, 2022. @inbook{3ef42c0edd3e4314a2f97c7a0faf4585,
title = {Unconventional Trajectories for Mobile 3D Scanning and Mapping},
author = {Fabian Arzberger and Jasper Zevering and A. Bredenbeck and Dorit Borrmann and Andreas Nüchter},
url = {https://research.tudelft.nl/en/publications/unconventional-trajectories-for-mobile-3d-scanning-and-mapping},
doi = {10.5772/intechopen.108132},
year = {2022},
date = {2022-01-01},
booktitle = {Autonomous Mobile Mapping Robots [Working Title]},
publisher = {IntechOpen},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
|
Inproceedings
|
D. C. Wijngaarden; B. D. W. Remes INDI Control for the ObliqueWing-Quad Plane Drone (Inproceedings) In: 13th international micro air vehicle conference, pp. 119–126–200, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022). @inproceedings{aa37bea0b37c487a8195da470030bdb0,
title = {INDI Control for the ObliqueWing-Quad Plane Drone},
author = {D. C. Wijngaarden and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/indi-control-for-the-obliquewing-quad-plane-drone},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {119--126--200},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S. A. Bahnam; C. Wagter; G. C. H. E. Croon Improving the computational efficiency of ROVIO (Inproceedings) In: 13th international micro air vehicle conference, pp. 47–52, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022). @inproceedings{9202aacd2f6c4f59af379699fc801346,
title = {Improving the computational efficiency of ROVIO},
author = {S. A. Bahnam and C. Wagter and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {47--52},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
G. C. H. E. Croon; C. Wagter Preface (Inproceedings) In: 13th international micro air vehicle conference, pp. 3–3, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022). @inproceedings{f83c2cfd635d4adba5ff06cea34a3db4,
title = {Preface},
author = {G. C. H. E. Croon and C. Wagter},
url = {https://research.tudelft.nl/en/publications/preface-129},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {3--3},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S. Schröter; E. J. J. Smeur; B. D. W. Remes Design and joint control of a conjoined biplane and quadrotor (Inproceedings) In: 13th international micro air vehicle conference, pp. 193–200, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022). @inproceedings{1f732b3f89cd4cb68c5d1bed71f432b0,
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},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {193--200},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
K. SURYAVANSHI; S. Hamaza; V. Wijk; J. L. Herder ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications (Inproceedings) In: IEEE International Conference on Robotics and Automation, 2022. @inproceedings{7ad2db50f9d14b86aa3f42b3170cbb89,
title = {ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications},
author = {K. 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},
year = {2022},
date = {2022-01-01},
booktitle = {IEEE International Conference on Robotics and Automation},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Jan K. N. Verheyen; Julien Dupeyroux; Guido C. H. E. de Croon A Novel Multi-vision Sensor Dataset for Insect-Inspired Outdoor Autonomous Navigation (Inproceedings) 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 Science and Business Media Deutschland GmbH, 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). @inproceedings{f60a4d00d79a4b759bdbe427f3e8328b,
title = {A Novel Multi-vision Sensor Dataset for Insect-Inspired Outdoor Autonomous Navigation},
author = {Jan K. N. Verheyen and Julien Dupeyroux and Guido C. H. E. de Croon},
editor = {Alexander Hunt and Vasiliki Vouloutsi and Kenneth Moses and Roger Quinn and Anna Mura and Tony Prescott and Paul F. Verschure},
url = {https://research.tudelft.nl/en/publications/a-novel-multi-vision-sensor-dataset-forinsect-inspired-outdoor-au},
doi = {10.1007/978-3-031-20470-8_28},
isbn = {9783031204692},
year = {2022},
date = {2022-01-01},
booktitle = {Biomimetic and Biohybrid Systems - 11th International Conference, Living Machines 2022, Proceedings},
pages = {279--291},
publisher = {Springer Science and Business Media Deutschland GmbH},
series = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
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. ; 11th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2022 ; Conference date: 19-07-2022 Through 22-07-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Isha Panchal; I. C. Metz; M. J. Ribeiro; S. F. Armanini Urban Air Traffic Management For Collision Avoidance with Non-Cooperative Airspace Users (Inproceedings) In: 33rd Congress of the International Council of the Aeronautical Sciences (2022), 2022, (33rd Congress of the International Council of the Aeronautical Sciences : ICAS 2022, ICAS 2022 ; Conference date: 04-09-2022 Through 09-09-2022). @inproceedings{5df258b88c1c4d84b9aff4381f9e6c0f,
title = {Urban Air Traffic Management For Collision Avoidance with Non-Cooperative Airspace Users},
author = {Isha Panchal and I. C. Metz and M. J. Ribeiro and S. F. Armanini},
url = {https://research.tudelft.nl/en/publications/urban-air-traffic-management-for-collision-avoidance-with-non-coo},
year = {2022},
date = {2022-01-01},
booktitle = {33rd Congress of the International Council of the Aeronautical Sciences (2022)},
note = {33rd Congress of the International Council of the Aeronautical Sciences : ICAS 2022, ICAS 2022 ; Conference date: 04-09-2022 Through 09-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
A. Bredenbeck; C. Della Santina; S. Hamaza End-Effector Contact Force Estimation for Aerial Manipulators (Inproceedings) In: IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and Opportunities, IEEE, United States, 2022, (The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022). @inproceedings{fe529348c7f646139fd79589f9e09ec9,
title = {End-Effector Contact Force Estimation for Aerial Manipulators},
author = {A. Bredenbeck and C. Della Santina and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/end-effector-contact-force-estimation-for-aerial-manipulators},
year = {2022},
date = {2022-01-01},
booktitle = {IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and Opportunities},
publisher = {IEEE},
address = {United States},
note = {The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Andre Farinha; S. Hamaza; Guy Burroughes; Mirko Kovac Optimal Sensor Launching with UAVs for Monitoring of Hazardous Environments (Inproceedings) In: IEEE IROS 2022 Workshop on Robotics for Nuclear Environments Exploration and Decommissioning: Challenges and Emerging Techniques, 2022, (The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022). @inproceedings{bae5126ae48a4299bf095c08b06f392e,
title = {Optimal Sensor Launching with UAVs for Monitoring of Hazardous Environments},
author = {Andre Farinha and S. Hamaza and Guy Burroughes and Mirko Kovac},
url = {https://research.tudelft.nl/en/publications/optimal-sensor-launching-with-uavs-for-monitoring-of-hazardous-en},
year = {2022},
date = {2022-01-01},
booktitle = {IEEE IROS 2022 Workshop on Robotics for Nuclear Environments Exploration and Decommissioning: Challenges and Emerging Techniques},
note = {The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Stein Stroobants; Julien Dupeyroux; Guido De Croon Design and implementation of a parsimonious neuromorphic PID for onboard altitude control for MAVs using neuromorphic processors (Inproceedings) In: ICONS 2022 - Proceedings of International Conference on Neuromorphic Systems 2022, Association for Computing Machinery (ACM), United States, 2022, (2022 International Conference on Neuromorphic Systems, ICONS 2022 ; Conference date: 27-07-2022 Through 29-07-2022). @inproceedings{e6958edd46cc4e399e39fbf809510c34,
title = {Design and implementation of a parsimonious neuromorphic PID for onboard altitude control for MAVs using neuromorphic processors},
author = {Stein Stroobants and Julien Dupeyroux and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/design-and-implementation-of-a-parsimonious-neuromorphic-pid-for-},
doi = {10.1145/3546790.3546799},
year = {2022},
date = {2022-01-01},
booktitle = {ICONS 2022 - Proceedings of International Conference on Neuromorphic Systems 2022},
publisher = {Association for Computing Machinery (ACM)},
address = {United States},
series = {ACM International Conference Proceeding Series},
note = {2022 International Conference on Neuromorphic Systems, ICONS 2022 ; Conference date: 27-07-2022 Through 29-07-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Sabrina M. Neuman; Brian Plancher; Bardienus P. Duisterhof; Srivatsan Krishnan; Colby Banbury; Mark Mazumder; Shvetank Prakash; Jason Jabbour; Aleksandra Faust; Guido Croon; Vijay Janapa Reddi Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots (Inproceedings) In: Proceedings of the 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS), pp. 296–299, IEEE, United States, 2022, ISBN: 978-1-6654-0997-1, (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 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems , AICAS 2022 ; Conference date: 13-06-2022 Through 15-06-2022). @inproceedings{4557b01595f64ff7beee25493cf7c9e9,
title = {Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots},
author = {Sabrina M. Neuman and Brian Plancher and Bardienus P. Duisterhof and Srivatsan Krishnan and Colby Banbury and Mark Mazumder and Shvetank Prakash and Jason Jabbour and Aleksandra Faust and Guido Croon and Vijay Janapa Reddi},
url = {https://research.tudelft.nl/en/publications/tiny-robot-learning-challenges-and-directions-for-machine-learnin},
doi = {10.1109/AICAS54282.2022.9870000},
isbn = {978-1-6654-0997-1},
year = {2022},
date = {2022-01-01},
booktitle = {Proceedings of the 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS)},
pages = {296--299},
publisher = {IEEE},
address = {United States},
series = {Proceeding - IEEE International Conference on Artificial Intelligence Circuits and Systems, AICAS 2022},
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. ; 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems , AICAS 2022 ; Conference date: 13-06-2022 Through 15-06-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J. J. G. Dupeyroux; S. Stroobants; G. C. H. E. Croon A toolbox for neuromorphic perception in robotics (Inproceedings) In: Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022, 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. ; 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022 ; Conference date: 22-06-2022 Through 24-06-2022). @inproceedings{20de7d89eb0c42f2859f54c9582f3297,
title = {A toolbox for neuromorphic perception in robotics},
author = {J. J. G. Dupeyroux and S. Stroobants and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/a-toolbox-for-neuromorphic-perception-in-robotics},
doi = {10.1109/EBCCSP56922.2022.9845664},
year = {2022},
date = {2022-01-01},
booktitle = {Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022},
series = {Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022},
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. ; 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022 ; Conference date: 22-06-2022 Through 24-06-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Alessandro Mancinelli; Ewoud J. J. Smeur; Bart Remes; Guido De Croon Dual-axis tilting rotor quad-plane design, simulation, flight and performance comparison with a conventional quad-plane design (Inproceedings) In: 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022, pp. 197–206, Institute of Electrical and Electronics Engineers (IEEE), United States, 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 Unmanned Aircraft Systems, ICUAS 2022 ; Conference date: 21-06-2022 Through 24-06-2022). @inproceedings{c3e6bf6f2feb4a47b2ed7e41db6c3d74,
title = {Dual-axis tilting rotor quad-plane design, simulation, flight and performance comparison with a conventional quad-plane design},
author = {Alessandro Mancinelli and Ewoud J. J. Smeur and Bart Remes and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/dual-axis-tilting-rotor-quad-plane-design-simulation-flight-and-p},
doi = {10.1109/ICUAS54217.2022.9836063},
year = {2022},
date = {2022-01-01},
booktitle = {2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022},
pages = {197--206},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022},
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. ; 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 ; Conference date: 21-06-2022 Through 24-06-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
D. A. Olejnik; S. Wang; J. J. G. Dupeyroux; S. Stroobants; M. Karasek; C. Wagter; G. C. H. E. Croon An Experimental Study of Wind Resistance and Power Consumption in MAVs with a Low-Speed Multi-Fan Wind System (Inproceedings) In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 2989–2994, 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). @inproceedings{8cad08a5200146d8ac8bea3eacd18e76,
title = {An Experimental Study of Wind Resistance and Power Consumption in MAVs with a Low-Speed Multi-Fan Wind System},
author = {D. A. Olejnik and S. Wang and J. J. G. Dupeyroux and S. Stroobants and M. Karasek and C. Wagter and G. C. H. E. Croon},
editor = {George J. Pappas and Vijay Kumar},
url = {https://research.tudelft.nl/en/publications/an-experimental-study-of-wind-resistance-and-power-consumption-in},
doi = {10.1109/ICRA46639.2022.9811834},
year = {2022},
date = {2022-01-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation, ICRA 2022},
pages = {2989--2994},
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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
M. Gonzalez Alvarez; J. J. G. Dupeyroux; Federico Corradi; G. C. H. E. Croon Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp (Inproceedings) 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). @inproceedings{8546fb365658485abee847e5e67316ea,
title = {Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp},
author = {M. Gonzalez Alvarez and J. J. G. Dupeyroux and Federico Corradi and G. C. H. E. Croon},
editor = {George J. Pappas and Vijay Kumar},
url = {https://research.tudelft.nl/en/publications/evolved-neuromorphic-radar-based-altitude-controller-for-an-auton},
doi = {10.1109/ICRA46639.2022.9812149},
year = {2022},
date = {2022-01-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation, ICRA 2022},
pages = {85--90},
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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S. Li; C. Wagter; G. C. H. E. Croon Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks (Inproceedings) In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 9689–9695, 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). @inproceedings{fe24f2568c0e4422b8209ee42cc708e3,
title = {Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks},
author = {S. Li and C. Wagter and G. C. H. E. Croon},
editor = {George J. Pappas and Vijay Kumar},
url = {https://research.tudelft.nl/en/publications/self-supervised-monocular-multi-robot-relative-localization-with-},
doi = {10.1109/ICRA46639.2022.9812150},
year = {2022},
date = {2022-01-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation, ICRA 2022},
pages = {9689--9695},
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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Julien Dupeyroux; Raoul Dinaux; Nikhil Wessendorp; Guido De Croon A Novel Obstacle Detection and Avoidance Dataset for Drones (Inproceedings) 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). @inproceedings{e2f12fc107bf4209989819fcf3163261,
title = {A Novel Obstacle Detection and Avoidance Dataset for Drones},
author = {Julien Dupeyroux and Raoul Dinaux and Nikhil Wessendorp and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/a-novel-obstacle-detection-and-avoidance-dataset-for-drones},
doi = {10.1145/3522784.3522786},
year = {2022},
date = {2022-01-01},
booktitle = {Proceedings of System Engineering for Constrained Embedded Systems - DroneSE},
pages = {8--13},
publisher = {Association for Computing Machinery (ACM)},
address = {United States},
series = {ACM International Conference Proceeding Series},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
Matteo Barbera Towards landing a deep-stalled flying-wing in a powered flat spin: a proof of concept (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Wagter, C. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:4e100997-a5b3-4863-a312-4721296fcdba,
title = {Towards landing a deep-stalled flying-wing in a powered flat spin: a proof of concept},
author = {Matteo Barbera},
url = {http://resolver.tudelft.nl/uuid:4e100997-a5b3-4863-a312-4721296fcdba},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Flying-wings show great potential for a vast number of applications, in both commercial and military sectors, thanks to their long range and fast forward flight, but suffer due to their lack of vertical take-off and landing capabilities. This paper presents a proof of concept for a novel landing method for a conventional flying wing that does not introduce additional weight dedicated only to the landing phase, with the aim of controlling a deep-stalled flying-wing in a powered flat spin. Through cyclic actuation of the servo motors and elevons, lateral forces as well as moments can be generated to control the position and attitude of the rotation plane. A successful indoor experiment was performed with a modified Parrot Disco in a controlled environment. Outdoor tests, however, failed to replicate the indoor results due to additional challenges present in the real flight conditions. A number of key challenges were identified, and the insights gained in this research lay an initial foundation for future work on this topic.},
note = {de Wagter, C. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Flying-wings show great potential for a vast number of applications, in both commercial and military sectors, thanks to their long range and fast forward flight, but suffer due to their lack of vertical take-off and landing capabilities. This paper presents a proof of concept for a novel landing method for a conventional flying wing that does not introduce additional weight dedicated only to the landing phase, with the aim of controlling a deep-stalled flying-wing in a powered flat spin. Through cyclic actuation of the servo motors and elevons, lateral forces as well as moments can be generated to control the position and attitude of the rotation plane. A successful indoor experiment was performed with a modified Parrot Disco in a controlled environment. Outdoor tests, however, failed to replicate the indoor results due to additional challenges present in the real flight conditions. A number of key challenges were identified, and the insights gained in this research lay an initial foundation for future work on this topic. |
Changrui Liu Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Pfeiffer, S.U. (mentor); Mazo, M. (graduation committee); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:1136170f-3c4b-43b8-8b43-09e1e52d3bfd,
title = {Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging},
author = {Changrui Liu},
url = {http://resolver.tudelft.nl/uuid:1136170f-3c4b-43b8-8b43-09e1e52d3bfd},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem that has not been satisfactorily solved. In this work, based on the range-based peer-to-peer RL using the ultra-wideband (UWB) ranging technique, we develop a novel UWB-based cooperative relative localization (CRL) solution which integrates the relative motion dynamics of each host-neighbor pair to build a unified dynamic model and takes the distances between the neighbors as bonus information. Observability analysis using differential geometry shows that the proposed CRL scheme can expand the observable subspace compared to other alternatives using only direct distances between the host agent and its neighbors. In addition, we apply the kernel-induced extended Kalman filter (EKF) to the CRL state estimation problem with the novel-designed Logarithmic-Versoria (LV) kernel to tackle heavy-tailed UWB noise. Sufficient conditions for the convergence of the fixed-point iteration involved in the estimation algorithm are also derived. Comparative Monte Carlo simulations demonstrate that the proposed CRL scheme combined with the LV-kernel EKF significantly improves the estimation accuracy owing to its robustness against both the measurement outliers and incorrect measurement covariance matrix initialization. Moreover, with the LV kernel, the estimation is still satisfactory when performing the fixed-point iteration only once for reduced computational complexity.},
note = {de Croon, G.C.H.E. (mentor); Pfeiffer, S.U. (mentor); Mazo, M. (graduation committee); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem that has not been satisfactorily solved. In this work, based on the range-based peer-to-peer RL using the ultra-wideband (UWB) ranging technique, we develop a novel UWB-based cooperative relative localization (CRL) solution which integrates the relative motion dynamics of each host-neighbor pair to build a unified dynamic model and takes the distances between the neighbors as bonus information. Observability analysis using differential geometry shows that the proposed CRL scheme can expand the observable subspace compared to other alternatives using only direct distances between the host agent and its neighbors. In addition, we apply the kernel-induced extended Kalman filter (EKF) to the CRL state estimation problem with the novel-designed Logarithmic-Versoria (LV) kernel to tackle heavy-tailed UWB noise. Sufficient conditions for the convergence of the fixed-point iteration involved in the estimation algorithm are also derived. Comparative Monte Carlo simulations demonstrate that the proposed CRL scheme combined with the LV-kernel EKF significantly improves the estimation accuracy owing to its robustness against both the measurement outliers and incorrect measurement covariance matrix initialization. Moreover, with the LV kernel, the estimation is still satisfactory when performing the fixed-point iteration only once for reduced computational complexity. |
Gervase Lovell-Prescod Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Smeur, E.J.J. (mentor); Ma, Z. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:baf5b7df-0e0f-45da-8b70-c7c95ead79b6,
title = {Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control},
author = {Gervase Lovell-Prescod},
url = {http://resolver.tudelft.nl/uuid:baf5b7df-0e0f-45da-8b70-c7c95ead79b6},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is particularly problematic for tailsitters as during hovering and vertical flight their wing is perpendicular to horizontal wind disturbances, often leading to actuator saturation. This paper presents a novel tailsitter micro air vehicle with two leading edge tilting rotors serving as its only actuators. It is shown that thrust vectoring generates sufficient control moment generation alleviating actuator saturation. Incremental nonlinear dynamic inversion (INDI) is implemented for attitude control and is demonstrated to compensate for unmodeled forces and moments whilst only relying on actuator control effectiveness and knowledge of actuator dynamics.},
note = {Smeur, E.J.J. (mentor); Ma, Z. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is particularly problematic for tailsitters as during hovering and vertical flight their wing is perpendicular to horizontal wind disturbances, often leading to actuator saturation. This paper presents a novel tailsitter micro air vehicle with two leading edge tilting rotors serving as its only actuators. It is shown that thrust vectoring generates sufficient control moment generation alleviating actuator saturation. Incremental nonlinear dynamic inversion (INDI) is implemented for attitude control and is demonstrated to compensate for unmodeled forces and moments whilst only relying on actuator control effectiveness and knowledge of actuator dynamics. |
Stefan Knoops Verification & Validation of Focus of Expansion estimation algorithm employing event-based optic flow (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:1caff7b3-5c17-4b80-abea-19c629ce6051,
title = {Verification & Validation of Focus of Expansion estimation algorithm employing event-based optic flow},
author = {Stefan Knoops},
url = {http://resolver.tudelft.nl/uuid:1caff7b3-5c17-4b80-abea-19c629ce6051},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Event based vision has recently attracted a lot of attention. High data rates and robustness to lighting variations make it a valid option for indoor navigation. The previously developed FAITH algorithm calculates a possible Focus of Expansion
area based on negative half-planes generated by optic flow and by employing a RANSAC search, a fast and reliable Focus of Expansion estimation can be performed. This paper builds upon this algorithm by verifying and validating the
algorithm, improving the derotation capabilities and optimising for computational efficiency. Compared to earlier work, a higher accuracy and an increased robustness are realised by improving the data handling. Simulator results show accuracies in the range of 2 to 5 degrees. Online testing on a drone shows accuracies of up to 5 degrees while obtaining calculation times of only
2 · 10−3s and rates of 140Hz. Comparing the method to an alternative shows higher accuracy and better suitability to normal flow. Further research may contribute to more stable results and explore different hardware solutions.},
note = {de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Event based vision has recently attracted a lot of attention. High data rates and robustness to lighting variations make it a valid option for indoor navigation. The previously developed FAITH algorithm calculates a possible Focus of Expansion<br/>area based on negative half-planes generated by optic flow and by employing a RANSAC search, a fast and reliable Focus of Expansion estimation can be performed. This paper builds upon this algorithm by verifying and validating the<br/>algorithm, improving the derotation capabilities and optimising for computational efficiency. Compared to earlier work, a higher accuracy and an increased robustness are realised by improving the data handling. Simulator results show accuracies in the range of 2 to 5 degrees. Online testing on a drone shows accuracies of up to 5 degrees while obtaining calculation times of only<br/>2 · 10−3s and rates of 140Hz. Comparing the method to an alternative shows higher accuracy and better suitability to normal flow. Further research may contribute to more stable results and explore different hardware solutions. |
Rik Bouwmeester NanoFlowNet: Real-time optical flow estimation on a nano quadcopter (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Paredes-Vallés, Federico (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:574db806-6096-4600-9926-3d737d1ee7da,
title = {NanoFlowNet: Real-time optical flow estimation on a nano quadcopter},
author = {Rik Bouwmeester},
url = {http://resolver.tudelft.nl/uuid:574db806-6096-4600-9926-3d737d1ee7da},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Nano quadcopters are small, agile, and cheap platforms well suited for deployment in narrow, cluttered environments. Due to their limited payload, nano quadcopters are highly constrained in processing power, rendering conventional vision-based methods for autonomous navigation incompatible. Recent machine learning developments promise high-performance perception at low latency, while novel ultra-low power microcontrollers augment the visual processing power of nano quadcopters. In this work, we present NanoFlowNet, an optical flow CNN that, based on the semantic segmentation architecture STDC-Seg, achieves real-time dense optical flow estimation on edge hardware. We use motion boundary ground truth to guide the learning of optical flow, improving performance with zero impact on latency. Validation on MPI-Sintel shows the high performance of the proposed method given its constrained architecture. We implement the CNN on the ultra-low power GAP8 microcontroller and demonstrate it in an obstacle avoidance application on a 34 g Bitcraze Crazyflie nano quadcopter.},
note = {de Croon, G.C.H.E. (mentor); Paredes-Vallés, Federico (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Nano quadcopters are small, agile, and cheap platforms well suited for deployment in narrow, cluttered environments. Due to their limited payload, nano quadcopters are highly constrained in processing power, rendering conventional vision-based methods for autonomous navigation incompatible. Recent machine learning developments promise high-performance perception at low latency, while novel ultra-low power microcontrollers augment the visual processing power of nano quadcopters. In this work, we present NanoFlowNet, an optical flow CNN that, based on the semantic segmentation architecture STDC-Seg, achieves real-time dense optical flow estimation on edge hardware. We use motion boundary ground truth to guide the learning of optical flow, improving performance with zero impact on latency. Validation on MPI-Sintel shows the high performance of the proposed method given its constrained architecture. We implement the CNN on the ultra-low power GAP8 microcontroller and demonstrate it in an obstacle avoidance application on a 34 g Bitcraze Crazyflie nano quadcopter. |
