Publications

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

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

Nature Machine Intelligence Paper

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

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

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

Science Robotics Paper

Our recent paper in Science Robotics presents the first swarm of tiny robots that can explore unknown environments completely by themselves. No map, no memory, and no GPS! The full paper can be found here.

K N McGuire, C De Wagter, K Tuyls, H J Kappen, G C H E de Croon: Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. In: Science Robotics, vol. 4, no. 35, 2019.

 

Delfly Book

 

 

Our book about the DelFly has been published! The book introduces the topics most relevant to autonomously flying flapping-wing robots: flapping-wing design, aerodynamics, and artificial intelligence.

 

G C H E de Croon, Mustafa Percin, B D W Remes, Rick Ruijsink, C De Wagter: The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot. Springer Netherlands, 2016, ISBN: 978-94-017-9207-3.

 

Science paper

 

 

The Delfly Nimble was featured on the cover of Science Magazine in September 2018.

 

Matěj Karásek, Florian T Muijres, Christophe De Wagter, Bart D W Remes, Guido C H E de Croon: A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns. In: Science, vol. 361, no. 6407, pp. 1089–1094, 2018, ISSN: 0036-8075.

 

 

 

 

 

All publications

766 entries « 1 of 16 »

2025

Journal Articles

Anton Bredenbeck; Cosimo Della Santina; Salua Hamaza

Embodying Compliant Touch on Drones for Aerial Tactile Navigation (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1209–1216, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Yingfu Xu; Guido C. H. E. Croon

CUAHN-VIO: Content-and-uncertainty-aware homography network for visual-inertial odometry (Journal Article)

In: Robotics and Autonomous Systems, vol. 185, 2025, ISSN: 0921-8890.

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Till M. Blaha; Mike M. Kuijper; Radu Pop; Ewoud J. J. Smeur

Rapid and Inexpensive Inertia Tensor Estimation From a Single Object Throw (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 10, no. 7, pp. 7365–7371, 2025, ISSN: 2377-3766.

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Saeed Rafee Nekoo; Ramy Rashad; Christophe De Wagter; Sawyer B. Fuller; Guido de Croon; Stefano Stramigioli; Anibal Ollero

A review on flapping-wing robots: Recent progress and challenges (Journal Article)

In: International Journal of Robotics Research, 2025, ISSN: 0278-3649.

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Stephen Pringle; Martin Dallimer; Mark A. Goddard; Léni K. Le Goff; Emma Hart; Simon J. Langdale; Jessica C. Fisher; Sara Adela Abad; Salua Hamaza; More Authors

Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age (Journal Article)

In: Nature Ecology and Evolution, vol. 9, no. 6, pp. 1031–1042, 2025, ISSN: 2397-334X.

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Tomaso Maria Luigi De Ponti; Ewoud Jan Jacob Smeur; Bart Diane Walter Remes

Unified-Actuator Nonlinear Dynamic Inversion Controller for the Variable Skew Quad Plane (Journal Article)

In: Journal of Guidance, Control, and Dynamics, vol. 48, no. 5, pp. 1167–1176, 2025, ISSN: 0731-5090, (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.).

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S. T. Hazelaar; C. Wang; C. Wagter; Florian T. Muijres; G. C. H. E. Croon; M. Yedutenko

Bioinspired adaptive visual servoing control for quadrotors (Journal Article)

In: Bioinspiration & Biomimetics: learning from nature, vol. 20, no. 3, 2025, ISSN: 1748-3182.

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Ziqing Ma; Ewoud J. J. Smeur; Guido C. H. E. De Croon

Design and Control of A Tilt-Rotor Tailsitter Aircraft with Pivoting VTOL Capability (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 5911 – 5918, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Yingfu Xu; Guangzhi Tang; Amirreza Yousefzadeh; Guido C. H. E. Croon; Manolis Sifalakis

Event-based optical flow on neuromorphic processor: ANN vs. SNN comparison based on activation sparsification (Journal Article)

In: Neural Networks, vol. 188, 2025, ISSN: 0893-6080, (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.).

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S. Stroobants; C. De Wagter; G. C. H. E. De Croon

Neuromorphic Attitude Estimation and Control (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 10, no. 5, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Jason Yik; Korneel Van den Berghe; Douwe Blanken; Younes Bouhadjar; Maxime Fabre; Aurora Micheli; Guido Croon; Nergis Tömen; Charlotte Frenkel; More Authors

The neurobench framework for benchmarking neuromorphic computing algorithms and systems (Journal Article)

In: Nature Communications, vol. 16, no. 1, 2025, ISSN: 2041-1723.

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

MAVRL: Learn to Fly in Cluttered Environments With Varying Speed (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1441–1448, 2025, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Proceedings Articles

Jane Pauline Ramirez; Rafael Dux; Salua Hamaza

Continuum Twisted Tower Origami Landing Gear for Drones: Design, Modelling and Experiments (Proceedings Article)

In: 2025 IEEE 8th International Conference on Soft Robotics, RoboSoft 2025, IEEE, United States, 2025, (8th IEEE International Conference on Soft Robotics, RoboSoft 2025 ; Conference date: 22-04-2025 Through 26-04-2025).

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N. Wechtler; A. Mancinelli; E. J. J. Smeur

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

In: Proceedings of the AIAA SCITECH 2025 Forum, 2025, (AIAA SCITECH 2025 Forum ; Conference date: 06-01-2025 Through 10-01-2025).

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A. Mancinelli; N. Voß; E. J. J. Smeur

Fault Tolerant Control in Over-Actuated Hybrid Tilt-Rotor Unmanned Aerial Vehicles (Proceedings Article)

In: AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2025, (AIAA SCITECH 2025 Forum ; Conference date: 06-01-2025 Through 10-01-2025).

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M. Homola; Y. Li; E. Kampen

Uncertainty-Driven Distributional Reinforcement Learning for Flight Control (Proceedings Article)

In: Proceedings of the AIAA SCITECH 2025 Forum, 2025, (AIAA SCITECH 2025 Forum ; Conference date: 06-01-2025 Through 10-01-2025).

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F. Larocque; T. M. L. De Ponti; B. D. W. Remes; E. J. J. Smeur

Synthetic Air Data System for Pitot Tube Failure Detection on the Variable Skew Quad Plane (Proceedings Article)

In: Proceedings of the AIAA SCITECH 2025 Forum, 2025, (AIAA SCITECH 2025 Forum ; Conference date: 06-01-2025 Through 10-01-2025).

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Miscellaneous

Youssef Farah; Federico Paredes-Vallés; Guido De Croon; Muhammad Ahmed Humais; Hussain Sajwani; Yahya Zweiri

EV-LayerSegNet: Self-supervised Motion Segmentation using Event Cameras (Miscellaneous)

2025.

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

Depth Transfer: Learning to See Like a Simulator for Real-World Drone Navigation (Miscellaneous)

2025.

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Stavrow A. Bahnam; Christophe De Wagter; Guido C. H. E. Croon

Self-Supervised Monocular Visual Drone Model Identification through Improved Occlusion Handling (Miscellaneous)

2025.

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Robin Ferede; Till Blaha; Erin Lucassen; Christophe De Wagter; Guido C. H. E. Croon

One Net to Rule Them All: Domain Randomization in Quadcopter Racing Across Different Platforms (Miscellaneous)

2025.

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Elijah H. W. Ang; Christophe De Wagter; Guido C. H. E. Croon

Multi-objective Evolution of Drone Morphology (Miscellaneous)

2025.

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Till M. Blaha; Mike M. Kuijper; Radu Pop; Ewoud J. J. Smeur

Rapid and Inexpensive Inertia Tensor Estimation from a Single Object Throw (Miscellaneous)

2025.

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Utkarsh Bajpai; Julius Rückin; Cyrill Stachniss; Marija Popović

Uncertainty-Informed Active Perception for Open Vocabulary Object Goal Navigation (Miscellaneous)

2025.

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

Globally Consistent RGB-D SLAM with 2D Gaussian Splatting (Miscellaneous)

2025.

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

DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstruction (Miscellaneous)

2025.

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Rajitha Silva; Jonathan Cox; Marija Popovic; Cesar Cadena; Cyrill Stachniss; Riccardo Polvara

Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments (Miscellaneous)

2025.

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Jacob Swindell; Madeleine Darbyshire; Marija Popovic; Riccardo Polvara

Discrete Gaussian Process Representations for Optimising UAV-based Precision Weed Mapping (Miscellaneous)

2025.

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

PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map (Miscellaneous)

2025.

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2024

Journal Articles

Tom van Dijk; Christophe De Wagter; Guido C.H.E. de Croon

Visual Route-following for Tiny Autonomous Robots (Journal Article)

In: Science Robotics, vol. 9, no. 92, pp. eadk0310, 2024, ISSN: 2470-9476.

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Dario Izzo; Emmanuel Blazquez; Robin Ferede; Sebastien Origer; Christophe De Wagter; Guido C. H. E. de Croon

Optimality principles in spacecraft neural guidance and control (Journal Article)

In: Science Robotics, vol. 9, iss. 91, no. 91, pp. eadi6421, 2024, ISSN: 2470-9476.

(Abstract | Links | BibTeX)

Liming Zheng; Salua Hamaza

ALBERO: Agile Landing on Branches for Environmental Robotics Operations (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2845–2852, 2024, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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F. Paredes-Vallés; J. J. Hagenaars; J. Dupeyroux; S. Stroobants; Y. Xu; G. C. H. E. Croon

Fully neuromorphic vision and control for autonomous drone flight (Journal Article)

In: Science Robotics, vol. 9, no. 90, pp. eadi0591, 2024.

(Abstract | Links | BibTeX)

Hann Woei Ho; Ye Zhou; Yiting Feng; Guido C. H. E. Croon

Optical flow-based control for micro air vehicles: an efficient data-driven incremental nonlinear dynamic inversion approach (Journal Article)

In: Autonomous Robots, vol. 48, no. 8, 2024, ISSN: 0929-5593, (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.).

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Apoorva Vashisth; Julius Ruckin; Federico Magistri; Cyrill Stachniss; Marija Popovic

Deep Reinforcement Learning With Dynamic Graphs for Adaptive Informative Path Planning (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7747–7754, 2024, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

Tom Dijk; Christophe De Wagter; Guido C. H. E. Croon

Visual route following for tiny autonomous robots (Journal Article)

In: Science Robotics, vol. 9, no. 92, pp. eadk0310, 2024, ISSN: 2470-9476, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

Dario Izzo; Emmanuel Blazquez; Robin Ferede; Sebastien Origer; Christophe De Wagter; Guido C. H. E. Croon

Optimality principles in spacecraft neural guidance and control (Journal Article)

In: Science Robotics, vol. 9, no. 91, 2024, ISSN: 2470-9476, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

G. C. H. E. Croon; C. De Wagter

Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022 (Journal Article)

In: Unmanned Systems, vol. 12, no. 3, pp. 563–564, 2024, ISSN: 2301-3850.

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S. A. Bahnam; C. De Wagter; G. C. H. E. De Croon

Improving the Computational Efficiency of ROVIO (Journal Article)

In: Unmanned Systems, vol. 12, no. 3, pp. 589–598, 2024, ISSN: 2301-3850.

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Suryansh Sharma; Mike Verhoeff; Floor Joosen; RR Venkatesha Prasad; Salua Hamaza

A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 9, no. 7, pp. 6408–6415, 2024, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

F. Paredes-Vallés; J. J. Hagenaars; J. Dupeyroux; S. Stroobants; Y. Xu; G. C. H. E. Croon

Fully neuromorphic vision and control for autonomous drone flight (Journal Article)

In: Science Robotics, vol. 9, no. 90, 2024, ISSN: 2470-9476, (Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

(Links | BibTeX)

Robin Ferede; Guido Croon; Christophe De Wagter; Dario Izzo

End-to-end neural network based optimal quadcopter control (Journal Article)

In: Robotics and Autonomous Systems, vol. 172, 2024, ISSN: 0921-8890, (Funding Information: This work was supported by the European Space Agency.This research was co-funded under the Discovery programme of, and funded by, the European Space Agency. Funding Information: This work was supported by the European Space Agency . Publisher Copyright: © 2023 The Authors).

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Proceedings Articles

S. Wang; M. Hoed; S. Hamaza

A Low-cost Fabrication Approach to Embody Flexible and Lightweight Strain Sensing on Flapping Wings (Proceedings Article)

In: IEEE ICRA 2024 - Workshop on Bioinspired, Soft, and Other Novel Design Paradigms for Aerial Robotics, IEEE, United States, 2024, (2024 IEEE International Conference on<br/>Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).

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Michiel V. M. Firlefyn; Jesse J. Hagenaars; Guido C. H. E. De Croon

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

In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 6022–6028, IEEE, United States, 2024, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).

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Chaoxiang Ye; Guido De Croon; Salua Hamaza

A Biomorphic Whisker Sensor for Aerial Tactile Applications (Proceedings Article)

In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 5257–5263, IEEE, United States, 2024, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).

(Links | BibTeX)

Yilun Wu; Federico Paredes-Vallés; Guido C. H. E. De Croon

Lightweight Event-based Optical Flow Estimation via Iterative Deblurring (Proceedings Article)

In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 14708–14715, IEEE, United States, 2024, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).

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Robin Ferede; Christophe De Wagter; Dario Izzo; Guido C. H. E. De Croon

End-to-end Reinforcement Learning for Time-Optimal Quadcopter Flight (Proceedings Article)

In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, pp. 6172–6177, IEEE, United States, 2024, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024).

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L. S. Yadala Chanchu; R. F. G. Zuidgeest; D. M. Stam; G. C. H. E. Croon

Robust Heading Estimation from Polarization Images by Deep Neural Networks (Proceedings Article)

In: Richardson, T. (Ed.): IMAV 2024: Proceedings of the 15th annual International Micro Air Vehicle Conference and Competition, pp. 56–63, 2024, (International Micro Air Vehicle Conference , IMAV 2024 ; Conference date: 16-09-2024 Through 20-09-2024).

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T. Burgers; S. Stroobants; G. C. H. E. Croon

Evolving Spiking Neural Networks to Mimic PID Control for Autonomous Blimps (Proceedings Article)

In: Richardson, T. (Ed.): IMAV 2024: Proceedings of the 15th annual International Micro Air Vehicle Conference and Competition, pp. 72–78, 2024, (International Micro Air Vehicle Conference , IMAV 2024 ; Conference date: 16-09-2024 Through 20-09-2024).

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M. Villanueva Aguado; C. Wagter; G. C. H. E. Croon

Adaptive Neural Network Quadrotor Trajectory Tracking Controller Tolerant to Propeller Damage (Proceedings Article)

In: Richardson, T. (Ed.): IMAV 2024: Proceedings of the 15th annual International Micro Air Vehicle Conference and Competition, pp. 87–99, 2024, (International Micro Air Vehicle Conference , IMAV 2024 ; Conference date: 16-09-2024 Through 20-09-2024).

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766 entries « 1 of 16 »