2021
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Journal Articles
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D. Wijnker, T. van Dijk, G.C.H.E. de Croon, C. De Wagter Hear-and-avoid for unmanned air vehicles using convolutional neural networks (Journal Article) International Journal of Micro Air Vehicles, 13 , pp. 1-15, 2021. (Abstract | Links | BibTeX) @article{audio_ijmav_2021,
title = { Hear-and-avoid for unmanned air vehicles using convolutional neural networks},
author = {D. Wijnker, T. van Dijk, G.C.H.E. de Croon, C. De Wagter},
url = {https://journals.sagepub.com/doi/full/10.1177/1756829321992137},
doi = {10.1177/1756829321992137},
year = {2021},
date = {2021-02-10},
journal = {International Journal of Micro Air Vehicles},
volume = {13},
pages = {1-15},
abstract = {To investigate how an unmanned air vehicle can detect manned aircraft with a single microphone, an audio data set is created in which unmanned air vehicle ego-sound and recorded aircraft sound are mixed together. A convolutional neural network is used to perform air traffic detection. Due to restrictions on flying unmanned air vehicles close to aircraft, the data set has to be artificially produced, so the unmanned air vehicle sound is captured separately from the aircraft sound. They are then mixed with unmanned air vehicle recordings, during which labels are given indicating whether the mixed recording contains aircraft audio or not. The model is a convolutional neural network that uses the features Mel frequency cepstral coefficient, spectrogram or Mel spectrogram as input. For each feature, the effect of unmanned air vehicle/aircraft amplitude ratio, the type of labeling, the window length and the addition of third party aircraft sound database recordings are explored. The results show that the best performance is achieved using the Mel spectrogram feature. The performance increases when the unmanned air vehicle/aircraft amplitude ratio is decreased, when the time window is increased or when the data set is extended with aircraft audio recordings from a third party sound database. Although the currently presented approach has a number of false positives and false negatives that is still too high for real-world application, this study indicates multiple paths forward that can lead to an interesting performance. Finally, the data set is provided as open access.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
To investigate how an unmanned air vehicle can detect manned aircraft with a single microphone, an audio data set is created in which unmanned air vehicle ego-sound and recorded aircraft sound are mixed together. A convolutional neural network is used to perform air traffic detection. Due to restrictions on flying unmanned air vehicles close to aircraft, the data set has to be artificially produced, so the unmanned air vehicle sound is captured separately from the aircraft sound. They are then mixed with unmanned air vehicle recordings, during which labels are given indicating whether the mixed recording contains aircraft audio or not. The model is a convolutional neural network that uses the features Mel frequency cepstral coefficient, spectrogram or Mel spectrogram as input. For each feature, the effect of unmanned air vehicle/aircraft amplitude ratio, the type of labeling, the window length and the addition of third party aircraft sound database recordings are explored. The results show that the best performance is achieved using the Mel spectrogram feature. The performance increases when the unmanned air vehicle/aircraft amplitude ratio is decreased, when the time window is increased or when the data set is extended with aircraft audio recordings from a third party sound database. Although the currently presented approach has a number of false positives and false negatives that is still too high for real-world application, this study indicates multiple paths forward that can lead to an interesting performance. Finally, the data set is provided as open access. |
G.C.H.E. de Croon, C. De Wagter, T. Seidl Enhancing optical-flow-based control by learning visual appearance cues for flying robots (Journal Article) Nature Machine Intelligence, 3 (1), 2021. (Abstract | Links | BibTeX) @article{nature_ai_optical_flow,
title = {Enhancing optical-flow-based control by learning visual appearance cues for flying robots},
author = {G.C.H.E. de Croon, C. De Wagter, T. Seidl},
doi = {10.1038/s42256-020-00279-7},
year = {2021},
date = {2021-01-19},
journal = {Nature Machine Intelligence},
volume = {3},
number = {1},
abstract = {Flying insects employ elegant optical-flow-based strategies to solve complex tasks such as landing or obstacle avoidance. Roboticists have mimicked these strategies on flying robots with only limited success, because optical flow (1) cannot disentangle distance from velocity and (2) is less informative in the highly important flight direction. Here, we propose a solution to these fundamental shortcomings by having robots learn to estimate distances to objects by their visual appearance. The learning process obtains supervised targets from a stability-based distance estimation approach. We have successfully implemented the process on a small flying robot. For the task of landing, it results in faster, smooth landings. For the task of obstacle avoidance, it results in higher success rates at higher flight speeds. Our results yield improved robotic visual navigation capabilities and lead to a novel hypothesis on insect intelligence: behaviours that were described as optical-flow-based and hardwired actually benefit from learning processes.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Flying insects employ elegant optical-flow-based strategies to solve complex tasks such as landing or obstacle avoidance. Roboticists have mimicked these strategies on flying robots with only limited success, because optical flow (1) cannot disentangle distance from velocity and (2) is less informative in the highly important flight direction. Here, we propose a solution to these fundamental shortcomings by having robots learn to estimate distances to objects by their visual appearance. The learning process obtains supervised targets from a stability-based distance estimation approach. We have successfully implemented the process on a small flying robot. For the task of landing, it results in faster, smooth landings. For the task of obstacle avoidance, it results in higher success rates at higher flight speeds. Our results yield improved robotic visual navigation capabilities and lead to a novel hypothesis on insect intelligence: behaviours that were described as optical-flow-based and hardwired actually benefit from learning processes. |
Patricia P Parlevliet; Andrey Kanaev; Chou P Hung; Andreas Schweiger; Frederick D Gregory; Ryad Benosman; Guido C H E de Croon; Yoram Gutfreund; Chung Chuan Lo; Cynthia F Moss Autonomous Flying With Neuromorphic Sensing (Journal Article) Frontiers in Neuroscience, 15 , 2021, ISSN: 1662-4548. (Links | BibTeX) @article{64b98a51388b454fb60cf6e9e02842c8,
title = {Autonomous Flying With Neuromorphic Sensing},
author = {{Patricia P } Parlevliet and Andrey Kanaev and {Chou P } Hung and Andreas Schweiger and {Frederick D } Gregory and Ryad Benosman and {Guido C H E } {de Croon} and Yoram Gutfreund and {Chung Chuan} Lo and {Cynthia F } Moss},
url = {https://research.tudelft.nl/en/publications/autonomous-flying-with-neuromorphic-sensing},
doi = {10.3389/fnins.2021.672161},
issn = {1662-4548},
year = {2021},
date = {2021-01-01},
journal = {Frontiers in Neuroscience},
volume = {15},
publisher = {Frontiers Media},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Pulkit Goyal; Antoine Cribellier; Guido C H E de Croon; Martin J Lankheet; Johan L van Leeuwen; Remco P M Pieters; Florian T Muijres Bumblebees land rapidly and robustly using a sophisticated modular flight control strategy (Journal Article) iScience, 24 (5), 2021, ISSN: 2589-0042. (Links | BibTeX) @article{b8ea5aa24527426491652d2a82f84732,
title = {Bumblebees land rapidly and robustly using a sophisticated modular flight control strategy},
author = {Pulkit Goyal and Antoine Cribellier and {Guido C H E } {de Croon} and {Martin J } Lankheet and {Johan L } {van Leeuwen} and {Remco P M } Pieters and {Florian T } Muijres},
url = {https://research.tudelft.nl/en/publications/bumblebees-land-rapidly-and-robustly-using-a-sophisticated-modula},
doi = {10.1016/j.isci.2021.102407},
issn = {2589-0042},
year = {2021},
date = {2021-01-01},
journal = {iScience},
volume = {24},
number = {5},
publisher = {Cell Press},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
C De Wagter; B Remes; E Smeur; F van Tienen; R Ruijsink; K van Hecke; E van der Horst The NederDrone: A hybrid lift, hybrid energy hydrogen UAV (Journal Article) International Journal of Hydrogen Energy, 46 (29), pp. 16003–16018, 2021, ISSN: 0360-3199. (Links | BibTeX) @article{0bbd9df59c4842f2b3a6284876642d15,
title = {The NederDrone: A hybrid lift, hybrid energy hydrogen UAV},
author = {C {De Wagter} and B Remes and E Smeur and F {van Tienen} and R Ruijsink and K {van Hecke} and E {van der Horst}},
url = {https://research.tudelft.nl/en/publications/the-nederdrone-a-hybrid-lift-hybrid-energy-hydrogen-uav},
doi = {10.1016/j.ijhydene.2021.02.053},
issn = {0360-3199},
year = {2021},
date = {2021-01-01},
journal = {International Journal of Hydrogen Energy},
volume = {46},
number = {29},
pages = {16003--16018},
publisher = {Elsevier},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
H Y Lee; H W Ho; Y Zhou Deep Learning-based Monocular Obstacle Avoidance for Unmanned Aerial Vehicle Navigation in Tree Plantations: Faster Region-based Convolutional Neural Network Approach (Journal Article) Journal of Intelligent and Robotic Systems: Theory and Applications, 101 (1), 2021, ISSN: 0921-0296. (Links | BibTeX) @article{41bbc3e560d1448093ab2ce6220da811,
title = {Deep Learning-based Monocular Obstacle Avoidance for Unmanned Aerial Vehicle Navigation in Tree Plantations: Faster Region-based Convolutional Neural Network Approach},
author = {{H Y } Lee and {H W } Ho and Y Zhou},
url = {https://research.tudelft.nl/en/publications/deep-learning-based-monocular-obstacle-avoidance-for-unmanned-aer},
doi = {10.1007/s10846-020-01284-z},
issn = {0921-0296},
year = {2021},
date = {2021-01-01},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
volume = {101},
number = {1},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Miscellaneous
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Benjamin Keltjens; Tom van Dijk; Guido de Croon Self-Supervised Monocular Depth Estimation of Untextured Indoor Rotated Scenes (Miscellaneous) 2021. (Links | BibTeX) @misc{2106.12958,
title = {Self-Supervised Monocular Depth Estimation of Untextured Indoor Rotated Scenes},
author = {Benjamin Keltjens and Tom van Dijk and Guido de Croon},
url = {https://arxiv.org/abs/2106.12958},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Federico Paredes-Vallés; Jesse Hagenaars; Guido de Croon Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networks (Miscellaneous) 2021. (Links | BibTeX) @misc{2106.01862,
title = {Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networks},
author = {Federico Paredes-Vallés and Jesse Hagenaars and Guido de Croon},
url = {https://arxiv.org/abs/2106.01862},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Shushuai Li; Christophe De Wagter; Guido C H E de Croon Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks (Miscellaneous) 2021. (Links | BibTeX) @misc{2105.12797,
title = {Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks},
author = {Shushuai Li and Christophe De Wagter and Guido C H E de Croon},
url = {https://arxiv.org/abs/2105.12797},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Mario Coppola; Jian Guo; Eberhard Gill; Guido C H E de Croon A model-based framework for learning transparent swarm behaviors (Miscellaneous) 2021. (Links | BibTeX) @misc{2103.05343,
title = {A model-based framework for learning transparent swarm behaviors},
author = {Mario Coppola and Jian Guo and Eberhard Gill and Guido C H E de Croon},
url = {https://arxiv.org/abs/2103.05343},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Daniël Willemsen; Mario Coppola; Guido C H E de Croon MAMBPO: Sample-efficient multi-robot reinforcement learning using learned world models (Miscellaneous) 2021. (Links | BibTeX) @misc{2103.03662,
title = {MAMBPO: Sample-efficient multi-robot reinforcement learning using learned world models},
author = {Daniël Willemsen and Mario Coppola and Guido C H E de Croon},
url = {https://arxiv.org/abs/2103.03662},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Nikhil Wessendorp; Raoul Dinaux; Julien Dupeyroux; Guido de Croon Obstacle Avoidance onboard MAVs using a FMCW RADAR (Miscellaneous) 2021. (Links | BibTeX) @misc{2103.02050,
title = {Obstacle Avoidance onboard MAVs using a FMCW RADAR},
author = {Nikhil Wessendorp and Raoul Dinaux and Julien Dupeyroux and Guido de Croon},
url = {https://arxiv.org/abs/2103.02050},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Raoul Dinaux; Nikhil Wessendorp; Julien Dupeyroux; Guido de Croon FAITH: Fast iterative half-plane focus of expansion estimation using event-based optic flow (Miscellaneous) 2021. (Links | BibTeX) @misc{2102.12823,
title = {FAITH: Fast iterative half-plane focus of expansion estimation using event-based optic flow},
author = {Raoul Dinaux and Nikhil Wessendorp and Julien Dupeyroux and Guido de Croon},
url = {https://arxiv.org/abs/2102.12823},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Yingfu Xu; Guido C H E de Croon CNN-based Ego-Motion Estimation for Fast MAV Maneuvers (Miscellaneous) 2021. (Links | BibTeX) @misc{2101.01841,
title = {CNN-based Ego-Motion Estimation for Fast MAV Maneuvers},
author = {Yingfu Xu and Guido C H E de Croon},
url = {https://arxiv.org/abs/2101.01841},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Julien Dupeyroux A toolbox for neuromorphic sensing in robotics (Miscellaneous) 2021. (Links | BibTeX) @misc{2103.02751,
title = {A toolbox for neuromorphic sensing in robotics},
author = {Julien Dupeyroux},
url = {https://arxiv.org/abs/2103.02751},
year = {2021},
date = {2021-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
M Karasek; Rick Ruisink Attitude control mechanism for a flapping wing aerial vehicle (Miscellaneous) 2021, (B64C). (Links | BibTeX) @misc{3f4358a1911348b4b977cc0f32820c60,
title = {Attitude control mechanism for a flapping wing aerial vehicle},
author = {M Karasek and Rick Ruisink},
url = {https://research.tudelft.nl/en/publications/attitude-control-mechanism-for-a-flapping-wing-aerial-vehicle},
year = {2021},
date = {2021-01-01},
note = {B64C},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
M Coppola Automatic Design of Verifiable Robot Swarms (PhD Thesis) Delft University of Technology, 2021, ISBN: 978-94-6421-287-7. (Links | BibTeX) @phdthesis{b6ad7dddc6604aab827765f7a22a4a52,
title = {Automatic Design of Verifiable Robot Swarms},
author = {M Coppola},
url = {https://research.tudelft.nl/en/publications/automatic-design-of-verifiable-robot-swarms},
doi = {10.4233/uuid:b6ad7ddd-c660-4aab-8277-65f7a22a4a52},
isbn = {978-94-6421-287-7},
year = {2021},
date = {2021-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
2020
|
Journal Articles
|
Kirk Y.W.Scheper, Guido C.H.E.de Croon Evolution of robust high speed optical-flow-based landing for autonomous MAVs (Journal Article) Robotics and Autonomous Systems, 124 , 2020. (Links | BibTeX) @article{scheper2019evolution,
title = {Evolution of robust high speed optical-flow-based landing for autonomous MAVs},
author = {Kirk Y.W.Scheper, Guido C.H.E.de Croon},
url = {https://www.sciencedirect.com/science/article/abs/pii/S0921889019302404},
doi = {10.1016/j.robot.2019.103380},
year = {2020},
date = {2020-11-23},
journal = {Robotics and Autonomous Systems},
volume = {124},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Shuo Li; Micha"el M O I Ozo; Christophe De Wagter; Guido C H E de Croon Autonomous drone race: A computationally efficient vision-based navigation and control strategy (Journal Article) Robotics and Autonomous Systems, 133 , 2020, ISSN: 0921-8890. (Links | BibTeX) @article{022f5ed1ba26449f8851254541a93267,
title = {Autonomous drone race: A computationally efficient vision-based navigation and control strategy},
author = {Shuo Li and {Micha{"e}l M O I } Ozo and Christophe {De Wagter} and {Guido C H E } {de Croon}},
url = {https://research.tudelft.nl/en/publications/autonomous-drone-race-a-computationally-efficient-vision-based-na},
doi = {10.1016/j.robot.2020.103621},
issn = {0921-8890},
year = {2020},
date = {2020-11-01},
journal = {Robotics and Autonomous Systems},
volume = {133},
publisher = {Elsevier},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
J.J. Hagenaars, F. Paredes-Vallés, S.M. Bohté, G.C.H.E. de Croon Evolved Neuromorphic Control for High Speed Divergence-Based Landings of MAVs (Journal Article) IEEE Robotics and Automation Letters, 5 (4), pp. 6239 - 6246, 2020. (Abstract | Links | BibTeX) @article{jesse_neuroevolution_divLanding,
title = {Evolved Neuromorphic Control for High Speed Divergence-Based Landings of MAVs},
author = {J.J. Hagenaars, F. Paredes-Vallés, S.M. Bohté, G.C.H.E. de Croon},
url = {https://ieeexplore.ieee.org/abstract/document/9149674/metrics#metrics},
doi = {10.1109/LRA.2020.3012129},
year = {2020},
date = {2020-10-04},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {4},
pages = { 6239 - 6246},
abstract = {Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air vehicles still lag far behind their biological counterparts, displaying inferior performance at a much higher energy consumption. In light of this, we want to mimic flying insects in terms of their processing capabilities, and consequently show the efficiency of this approach in the real world. This letter does so through evolving spiking neural networks for controlling landings of micro air vehicles using optical flow divergence from a downward-looking camera. We demonstrate that the resulting neuromorphic controllers transfer robustly from a highly abstracted simulation to the real world, performing fast and safe landings while keeping network spike rate minimal. Furthermore, we provide insight into the resources required for successfully solving the problem of divergence-based landing, showing that high-resolution control can be learned with only a single spiking neuron. To the best of our knowledge, this work is the first to integrate spiking neural networks in the control loop of a real-world flying robot. Videos of the experiments can be found at https://bit.ly/neuro-controller.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air vehicles still lag far behind their biological counterparts, displaying inferior performance at a much higher energy consumption. In light of this, we want to mimic flying insects in terms of their processing capabilities, and consequently show the efficiency of this approach in the real world. This letter does so through evolving spiking neural networks for controlling landings of micro air vehicles using optical flow divergence from a downward-looking camera. We demonstrate that the resulting neuromorphic controllers transfer robustly from a highly abstracted simulation to the real world, performing fast and safe landings while keeping network spike rate minimal. Furthermore, we provide insight into the resources required for successfully solving the problem of divergence-based landing, showing that high-resolution control can be learned with only a single spiking neuron. To the best of our knowledge, this work is the first to integrate spiking neural networks in the control loop of a real-world flying robot. Videos of the experiments can be found at https://bit.ly/neuro-controller. |
Guido de Croon Flapping wing drones show off their skills (Journal Article) Science Robotics, 5 (24), 2020. (Abstract | Links | BibTeX) @article{commentary_science,
title = {Flapping wing drones show off their skills},
author = {Guido de Croon},
url = {http://robotics.sciencemag.org/cgi/content/full/5/44/eabd0233?ijkey=w4kqkh4vD3UwU&keytype=ref&siteid=robotics},
year = {2020},
date = {2020-07-22},
journal = {Science Robotics},
volume = {5},
number = {24},
abstract = {The identification and solution of a major efficiency loss in small flapping wing drones lead to more agile aerobatic maneuvers.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The identification and solution of a major efficiency loss in small flapping wing drones lead to more agile aerobatic maneuvers. |
Shuo Li, Erik van der Horst, Philipp Duernay, Christophe De Wagter, Guido C. H. E. de Croon Visual model‐predictive localization for computationally efficient autonomous racing of a 72‐g drone (Journal Article) Journal of Field Robotics, 37 (4), pp. 667-692, 2020. (Links | BibTeX) @article{li2020racing72g,
title = {Visual model‐predictive localization for computationally efficient autonomous racing of a 72‐g drone},
author = {Shuo Li, Erik van der Horst, Philipp Duernay, Christophe De Wagter, Guido C. H. E. de Croon},
doi = {10.1002/rob.21956},
year = {2020},
date = {2020-05-08},
journal = {Journal of Field Robotics},
volume = {37},
number = {4},
pages = {667-692},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Mario Coppola, Kimberly N. McGuire, Christophe De Wagter; Guido C. H. E. de Croon A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints (Journal Article) Frontiers in Robotics and AI, 2020. (Links | BibTeX) @article{frontiers_survey,
title = {A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints},
author = { Mario Coppola, Kimberly N. McGuire, Christophe De Wagter and Guido C. H. E. de Croon},
url = {https://www.frontiersin.org/articles/10.3389/frobt.2020.00018/full},
year = {2020},
date = {2020-02-25},
journal = {Frontiers in Robotics and AI},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Kirk Y W Scheper; Guido de Croon Evolution of robust high speed optical-flow-based landing for autonomous MAVs (Journal Article) Robotics and Autonomous Systems, 124 , 2020, ISSN: 0921-8890. (Links | BibTeX) @article{9a283c0ce100493190e8b39ed1bad552,
title = {Evolution of robust high speed optical-flow-based landing for autonomous MAVs},
author = {{Kirk Y W } Scheper and Guido {de Croon}},
url = {https://research.tudelft.nl/en/publications/evolution-of-robust-high-speed-optical-flow-based-landing-for-aut},
doi = {10.1016/j.robot.2019.103380},
issn = {0921-8890},
year = {2020},
date = {2020-02-01},
journal = {Robotics and Autonomous Systems},
volume = {124},
publisher = {Elsevier},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Diana A Olejnik; Bardienus P Duisterhof; Matej Kar á; Kirk Y W Scheper; Tom Van Dijk; Guido C H E De Croon A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks (Journal Article) Unmanned Systems, 8 (4), pp. 287–294, 2020, ISSN: 2301-3850. (Links | BibTeX) @article{8c20c8bdc06f4e7b81bcbc4b52319049,
title = {A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks},
author = {{Diana A } Olejnik and {Bardienus P } Duisterhof and Matej Kar á and {Kirk Y W } Scheper and Tom {Van Dijk} and {Guido C H E } {De Croon}},
url = {https://research.tudelft.nl/en/publications/a-tailless-flapping-wing-mav-performing-monocular-visual-servoing},
doi = {10.1142/S2301385020500235},
issn = {2301-3850},
year = {2020},
date = {2020-01-01},
journal = {Unmanned Systems},
volume = {8},
number = {4},
pages = {287--294},
publisher = {World Scientific Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Borrdephong Rattanagraikanakorn; Michiel Schuurman; Derek I Gransden; Riender Happee; Christophe De Wagter; Alexei Sharpanskykh; Henk A P Blom Modelling head injury due to unmanned aircraft systems collision: Crash dummy vs human body (Journal Article) International Journal of Crashworthiness, 2020, ISSN: 1358-8265. (Links | BibTeX) @article{203dfada656a40cfbf6650a5c9583782,
title = {Modelling head injury due to unmanned aircraft systems collision: Crash dummy vs human body},
author = {Borrdephong Rattanagraikanakorn and Michiel Schuurman and {Derek I } Gransden and Riender Happee and Christophe {De Wagter} and Alexei Sharpanskykh and {Henk A P } Blom},
url = {https://research.tudelft.nl/en/publications/modelling-head-injury-due-to-unmanned-aircraft-systems-collision--2},
doi = {10.1080/13588265.2020.1807687},
issn = {1358-8265},
year = {2020},
date = {2020-01-01},
journal = {International Journal of Crashworthiness},
publisher = {Taylor & Francis},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Nikhil D Potdar; Guido C H E de Croon; Javier Alonso-Mora Online trajectory planning and control of a MAV payload system in dynamic environments (Journal Article) Autonomous Robots, 44 (6), pp. 1065–1089, 2020, ISSN: 0929-5593. (Links | BibTeX) @article{6232384ed01947c7b1bc000e202acdec,
title = {Online trajectory planning and control of a MAV payload system in dynamic environments},
author = {{Nikhil D } Potdar and {Guido C H E } {de Croon} and Javier Alonso-Mora},
url = {https://research.tudelft.nl/en/publications/online-trajectory-planning-and-control-of-a-mav-payload-system-in},
doi = {10.1007/s10514-020-09919-8},
issn = {0929-5593},
year = {2020},
date = {2020-01-01},
journal = {Autonomous Robots},
volume = {44},
number = {6},
pages = {1065--1089},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Christophe De Wagter; Bart Remes; Ewoud Smeur; Freek van Tienen; Rick Ruijsink; Kevin van Hecke; Erik van der Horst The NederDrone: A hybrid lift, hybrid energy hydrogen UAV (Journal Article) 2020. (Links | BibTeX) @article{2011.03991,
title = {The NederDrone: A hybrid lift, hybrid energy hydrogen UAV},
author = {Christophe De Wagter and Bart Remes and Ewoud Smeur and Freek van Tienen and Rick Ruijsink and Kevin van Hecke and Erik van der Horst},
url = {https://arxiv.org/abs/2011.03991},
doi = {10.1016/j.ijhydene.2021.02.053},
year = {2020},
date = {2020-01-01},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Ewoud Smeur; Murat Bronz; Guido de Croon Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter Unmanned Air Vehicle (Journal Article) Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, 43 (2), pp. 274–287, 2020, ISSN: 0731-5090. (Links | BibTeX) @article{28cd0fb3e4134c99a0b9b01f94dac72e,
title = {Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter Unmanned Air Vehicle},
author = {Ewoud Smeur and Murat Bronz and Guido {de Croon}},
url = {https://research.tudelft.nl/en/publications/incremental-control-and-guidance-of-hybrid-aircraft-applied-to-a-},
doi = {10.2514/1.G004520},
issn = {0731-5090},
year = {2020},
date = {2020-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
volume = {43},
number = {2},
pages = {274--287},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
D N W M Heitzig; B W van Oudheusden; D Olejnik; Kar M á Effects of asymmetrical inflow in forward flight on the deformation of interacting flapping wings (Journal Article) International Journal of Micro Air Vehicles, 12 , 2020, ISSN: 1756-8293. (Links | BibTeX) @article{96805b641c6b417b9c86263f5119d7e7,
title = {Effects of asymmetrical inflow in forward flight on the deformation of interacting flapping wings},
author = {{D N W M } Heitzig and {B W } {van Oudheusden} and D Olejnik and Kar M á},
url = {https://research.tudelft.nl/en/publications/effects-of-asymmetrical-inflow-in-forward-flight-on-the-deformati-2},
doi = {10.1177/1756829320941002},
issn = {1756-8293},
year = {2020},
date = {2020-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {12},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Books
|
Tom van Dijk Self-Supervised Learning for Visual Obstacle Avoidance (Book) Micro Air Vehicle Lab (MAVLab), TU Delft, 2020. (Links | BibTeX) @book{bf982743f04349c1a50212f3a91b739e,
title = {Self-Supervised Learning for Visual Obstacle Avoidance},
author = {Tom {van Dijk}},
url = {https://research.tudelft.nl/en/publications/self-supervised-learning-for-visual-obstacle-avoidance},
year = {2020},
date = {2020-03-01},
publisher = {Micro Air Vehicle Lab (MAVLab), TU Delft},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Inproceedings
|
Shuo Li; Ekin Ozturk; Christophe De Wagter; Guido C H E De Croon; Dario Izzo Aggressive Online Control of a Quadrotor via Deep Network Representations of Optimality Principles (Inproceedings) 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, pp. 6282–6287, Institute of Electrical and Electronics Engineers (IEEE), United States, 2020, (2020 IEEE International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020). (Links | BibTeX) @inproceedings{ecf96e3ce2684b1cb1b34094ba84c042,
title = {Aggressive Online Control of a Quadrotor via Deep Network Representations of Optimality Principles},
author = {Shuo Li and Ekin Ozturk and Christophe {De Wagter} and {Guido C H E } {De Croon} and Dario Izzo},
url = {https://research.tudelft.nl/en/publications/aggressive-online-control-of-a-quadrotor-via-deep-network-represe},
doi = {10.1109/ICRA40945.2020.9197443},
year = {2020},
date = {2020-05-01},
booktitle = {2020 IEEE International Conference on Robotics and Automation, ICRA 2020},
pages = {6282--6287},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {2020 IEEE International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J B W Nijboer; S F Armanini; Kar M á; C C de Visser Longitudinal grey-box model identification of a tailless flapping wing mav based on free-flight data (Inproceedings) AIAA Scitech 2020 Forum, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2020, (AIAA Scitech Forum, 2020 ; Conference date: 06-01-2020 Through 10-01-2020). (Links | BibTeX) @inproceedings{ef42b13b070845d78776d14f9286e6c1,
title = {Longitudinal grey-box model identification of a tailless flapping wing mav based on free-flight data},
author = {{J B W } Nijboer and {S F } Armanini and Kar M á and {C C } {de Visser}},
url = {https://research.tudelft.nl/en/publications/longitudinal-grey-box-model-identification-of-a-tailless-flapping},
doi = {10.2514/6.2020-1964},
year = {2020},
date = {2020-01-01},
booktitle = {AIAA Scitech 2020 Forum},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
series = {AIAA Scitech 2020 Forum},
note = {AIAA Scitech Forum, 2020 ; Conference date: 06-01-2020 Through 10-01-2020},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
B Rattanagraikanakorn; H A P Blom; Alexei Sharpanskykh; C de Wagter; C Jiang; M J Schuurman; Derek I Gransden; R Happee Modeling and Simulating Human Fatality due to Quadrotor UAS Impact (Inproceedings) AIAA AVIATION 2020 FORUM, 2020, (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.; AIAA Aviation Forum ; Conference date: 15-06-2020 Through 19-06-2020). (Links | BibTeX) @inproceedings{c7eb69bec7af4d15b40d3efeb0fc5ae6,
title = {Modeling and Simulating Human Fatality due to Quadrotor UAS Impact},
author = {B Rattanagraikanakorn and H A P Blom and Alexei Sharpanskykh and C {de Wagter} and C Jiang and M J Schuurman and {Derek I } Gransden and R Happee},
url = {https://research.tudelft.nl/en/publications/modeling-and-simulating-human-fatality-due-to-quadrotor-uas-impac},
doi = {10.2514/6.2020-2902},
year = {2020},
date = {2020-01-01},
booktitle = {AIAA AVIATION 2020 FORUM},
series = {AIAA AVIATION 2020 FORUM},
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.; AIAA Aviation Forum ; Conference date: 15-06-2020 Through 19-06-2020},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
Jesse Hagenaars Evolved Neuromorphic Control for High Speed Divergence-based Landings of MAVs (Masters Thesis) Delft University of Technology, 2020. (Links | BibTeX) @mastersthesis{Hagenaars2020,
title = {Evolved Neuromorphic Control for High Speed Divergence-based Landings of MAVs},
author = {Jesse Hagenaars},
url = {http://resolver.tudelft.nl/uuid:48040e88-f507-4676-a5da-2b701a07f387},
year = {2020},
date = {2020-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
Federico Paredes Valles Neuromorphic Computing of Event-Based Data for High-Speed Vision-Based Navigation (Masters Thesis) Delft University of Technology, 2020. (Links | BibTeX) @mastersthesis{ParadesValles2020,
title = {Neuromorphic Computing of Event-Based Data for High-Speed Vision-Based Navigation},
author = {Federico Paredes Valles},
url = {http://resolver.tudelft.nl/uuid:aa13959b-79b9-4dfc-b5e0-7c501d9d3e2f7},
year = {2020},
date = {2020-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
Miscellaneous
|
Christophe De Wagter; Bart Remes; Ewoud Smeur; Freek van Tienen; Rick Ruijsink; Kevin van Hecke; Erik van der Horst
The NederDrone: A hybrid lift, hybrid energy hydrogen UAV (Miscellaneous) 2020. (Links | BibTeX) @misc{arXiv_Ned_2020,
title = {The NederDrone: A hybrid lift, hybrid energy hydrogen UAV},
author = {Christophe De Wagter and Bart Remes and Ewoud Smeur and Freek van Tienen and Rick Ruijsink and Kevin van Hecke and Erik van der Horst
},
url = {https://arxiv.org/pdf/2011.03991.pdf
https://arxiv.org/abs/2011.03991},
year = {2020},
date = {2020-11-10},
journal = {CoRR},
number = {arXiv:2011.03991},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Julien Dupeyroux; Jesse Hagenaars; Federico Paredes-Vallés; Guido de Croon Neuromorphic control for optic-flow-based landings of MAVs using the Loihi processor (Miscellaneous) 2020. (Links | BibTeX) @misc{2011.00534,
title = {Neuromorphic control for optic-flow-based landings of MAVs using the Loihi processor},
author = {Julien Dupeyroux and Jesse Hagenaars and Federico Paredes-Vallés and Guido de Croon},
url = {https://arxiv.org/abs/2011.00534},
year = {2020},
date = {2020-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Shushuai Li; Mario Coppola; Christophe De Wagter; Guido C H E de Croon An autonomous swarm of micro flying robots with range-based relative localization (Miscellaneous) 2020. (Links | BibTeX) @misc{2003.05853,
title = {An autonomous swarm of micro flying robots with range-based relative localization},
author = {Shushuai Li and Mario Coppola and Christophe De Wagter and Guido C H E de Croon},
url = {https://arxiv.org/abs/2003.05853},
year = {2020},
date = {2020-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
A Narasimhan; C C de Visser; C de Wagter; M Rischmueller Fault Tolerant Control of Multirotor UAV for Piloted Outdoor Flights (Miscellaneous) 2020. (Links | BibTeX) @misc{2011.00481,
title = {Fault Tolerant Control of Multirotor UAV for Piloted Outdoor Flights},
author = {A Narasimhan and C C de Visser and C de Wagter and M Rischmueller},
url = {https://arxiv.org/abs/2011.00481},
year = {2020},
date = {2020-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
S Li Visual Navigation and Optimal Control for Autonomous Drone Racing (PhD Thesis) Delft University of Technology, 2020, ISBN: 978-94-6384-175-7. (Links | BibTeX) @phdthesis{07641fdf5c874417ad7ce4232bd49570,
title = {Visual Navigation and Optimal Control for Autonomous Drone Racing},
author = {S Li},
url = {https://research.tudelft.nl/en/publications/visual-navigation-and-optimal-control-for-autonomous-drone-racing},
doi = {10.4233/uuid:07641fdf-5c87-4417-ad7c-e4232bd49570},
isbn = {978-94-6384-175-7},
year = {2020},
date = {2020-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
2019
|
Journal Articles
|
S Li; C De Wagter; G C H E de Croon Unsupervised Tuning of Filter Parameters Without Ground-Truth Applied to Aerial Robots (Journal Article) IEEE Robotics and Automation Letters, 4 (4), pp. 4102-4107, 2019, ISSN: 2377-3766. (Links | BibTeX) @article{shushuai2019unsupervised,
title = {Unsupervised Tuning of Filter Parameters Without Ground-Truth Applied to Aerial Robots},
author = {S Li and C De Wagter and G C H E de Croon},
url = {https://ieeexplore.ieee.org/abstract/document/8770074},
doi = {10.1109/LRA.2019.2930480},
issn = {2377-3766},
year = {2019},
date = {2019-10-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {4},
pages = {4102-4107},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Ewoud J. J. Smeur, Murat Bronz, Guido C. H. E. de Croon Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter Unmanned Air Vehicle (Journal Article) Journal of Guidance, Control, and Dynamics, 43 (2), 2019. (Links | BibTeX) @article{smeur2019incremental,
title = {Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter Unmanned Air Vehicle},
author = {Ewoud J. J. Smeur, Murat Bronz, Guido C. H. E. de Croon},
doi = {10.2514/1.G004520},
year = {2019},
date = {2019-09-17},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {43},
number = {2},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
M Coppola; J Guo; E Gill; G C H E de Croon The PageRank algorithm as a method to optimize swarm behavior through local analysis (Journal Article) Swarm Intelligence, 2019, ISSN: 1935-3820. (Links | BibTeX) @article{coppola2019pagerank,
title = {The PageRank algorithm as a method to optimize swarm behavior through local analysis},
author = {M Coppola and J Guo and E Gill and G C H E de Croon},
url = {https://link.springer.com/article/10.1007/s11721-019-00172-z},
issn = {1935-3820},
year = {2019},
date = {2019-08-23},
journal = {Swarm Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S F Armanini; J V Caetano; C C de Visser; M D Pavel; G C H E de Croon; M Mulder Modelling wing wake and tail aerodynamics of a flapping-wing micro aerial vehicle (Journal Article) International Journal of Micro Air Vehicles, 11 , 2019, ISSN: 1756-8293. (Links | BibTeX) @article{0d5929e23c0e4f4b8bb2e7ee5b1e9b6a,
title = {Modelling wing wake and tail aerodynamics of a flapping-wing micro aerial vehicle},
author = {{S F } Armanini and {J V } Caetano and {C C } {de Visser} and {M D } Pavel and {G C H E } {de Croon} and M Mulder},
url = {https://research.tudelft.nl/en/publications/modelling-wing-wake-and-tail-aerodynamics-of-a-flapping-wing-micr},
doi = {10.1177/1756829319833674},
issn = {1756-8293},
year = {2019},
date = {2019-03-05},
journal = {International Journal of Micro Air Vehicles},
volume = {11},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Federico Paredes-Vallés; Kirk Y W Scheper; Guido C H E de Croon Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception (Journal Article) IEEE Ŧransactions on Pattern Analysis and Machine Intelligence, 2019, ISSN: 1939-3539. (Links | BibTeX) @article{ParedesValles2019tpami,
title = {Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception},
author = {Federico Paredes-Vallés and Kirk Y W Scheper and Guido C H E de Croon},
url = {https://doi.org/10.1109/TPAMI.2019.2903179},
doi = {10.1109/TPAMI.2019.2903179},
issn = {1939-3539},
year = {2019},
date = {2019-03-05},
journal = {IEEE Ŧransactions on Pattern Analysis and Machine Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Fede Paredes Valles; Kirk Scheper; Guido de Croon Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception (Journal Article) IEEE Transactions on Pattern Analysis and Machine Intelligence, 42 (2020) (8), pp. 2051–2064, 2019, ISSN: 0162-8828. (Links | BibTeX) @article{160fcfa507614338ba72f8cf914add6a,
title = {Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception},
author = {Fede {Paredes Valles} and Kirk Scheper and Guido {de Croon}},
url = {https://research.tudelft.nl/en/publications/unsupervised-learning-of-a-hierarchical-spiking-neural-network-fo},
doi = {10.1109/TPAMI.2019.2903179},
issn = {0162-8828},
year = {2019},
date = {2019-03-01},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {42 (2020)},
number = {8},
pages = {2051--2064},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Shuo Li; C De Wagter; C C de Visser; Q P Chu; G C H E de Croon In-flight model parameter and state estimation using gradient descent for high-speed flight (Journal Article) International Journal of Micro Air Vehicles, 11 , 2019, ISSN: 1756-8293. (Links | BibTeX) @article{63ea9fb6ed044cb2b7a1ae0efdabfa48,
title = {In-flight model parameter and state estimation using gradient descent for high-speed flight},
author = {Shuo Li and C {De Wagter} and {C C } {de Visser} and {Q P } Chu and {G C H E } {de Croon}},
url = {https://research.tudelft.nl/en/publications/in-flight-model-parameter-and-state-estimation-using-gradient-des},
doi = {10.1177/1756829319833685},
issn = {1756-8293},
year = {2019},
date = {2019-03-01},
journal = {International Journal of Micro Air Vehicles},
volume = {11},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Borrdephong Rattanagraikanakorn; Derek I Gransden; Michiel Schuurman; Christophe de Wagter; Riender Happee; Alexei Sharpanskykh; Henk Blom Multibody system modelling of unmanned aircraft system collisions with the human head (Journal Article) International Journal of Crashworthiness, 25 (2020) (6), pp. 689–707, 2019, ISSN: 1358-8265. (Links | BibTeX) @article{314cb2eb87994cb7959fc86fcba86450,
title = {Multibody system modelling of unmanned aircraft system collisions with the human head},
author = {Borrdephong Rattanagraikanakorn and {Derek I } Gransden and Michiel Schuurman and Christophe {de Wagter} and Riender Happee and Alexei Sharpanskykh and Henk Blom},
url = {https://research.tudelft.nl/en/publications/multibody-system-modelling-of-unmanned-aircraft-system-collisions},
doi = {10.1080/13588265.2019.1633818},
issn = {1358-8265},
year = {2019},
date = {2019-01-01},
journal = {International Journal of Crashworthiness},
volume = {25 (2020)},
number = {6},
pages = {689--707},
publisher = {Taylor & Francis},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
K M Kajak; Kar M á; Q P Chu; G C H E de Croon A minimal longitudinal dynamic model of a tailless flapping wing robot for control design (Journal Article) Bioinspiration & Biomimetics: learning from nature, 14 (4), 2019, ISSN: 1748-3182, (Accepted author manuscript). (Links | BibTeX) @article{c0c3ff543fff4e46b868e4b309cae41b,
title = {A minimal longitudinal dynamic model of a tailless flapping wing robot for control design},
author = {{K M } Kajak and Kar M á and {Q P } Chu and {G C H E } {de Croon}},
url = {https://research.tudelft.nl/en/publications/a-minimal-longitudinal-dynamic-model-of-a-tailless-flapping-wing-},
doi = {10.1088/1748-3190/ab1e0b},
issn = {1748-3182},
year = {2019},
date = {2019-01-01},
journal = {Bioinspiration & Biomimetics: learning from nature},
volume = {14},
number = {4},
publisher = {IOP Publishing},
note = {Accepted author manuscript},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
