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: international weekly journal of science, 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

555 entries « 1 of 12 »

2024

Journal Articles

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).

(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, iss. 3, pp. 2845-2852, 2024, ISSN: 2377-3766.

(Abstract | Links | BibTeX)

Masters Theses

Sander Hazelaar

Adaptive Visual Servoing Control for Quadrotors: A Bio-inspired Strategy Using Active Vision (Masters Thesis)

TU Delft Aerospace Engineering, 2024, (de Croon, G.C.H.E. (mentor); Yedutenko, M. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Alexander Bom

Design of an inherently fully dynamically balanced aerial manipulator with omnidirectional workspace (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering, 2024, (van der Wijk, V. (mentor); Hamaza, S. (mentor); Herder, J.L. (graduation committee); Goosen, J.F.L. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Andreas Zwanenburg

A lightweight quadrotor autonomy system: To navigate in densely cluttered forest environments (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering, 2024, (Wisse, M. (mentor); Hamaza, S. (graduation committee); Benders, D. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Miscellaneous

Matthew Yedutenko; Federico Paredes-Valles; Lyes Khacef; Guido C. H. E. De Croon

TDE-3: An improved prior for optical flow computation in spiking neural networks (Miscellaneous)

2024.

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

MAVRL: Learn to Fly in Cluttered Environments with Varying Speed (Miscellaneous)

2024.

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2023

Journal Articles

G.C.H.E. de Croon

Drone-racing champions outpaced by AI (Journal Article)

In: Nature, vol. 620, pp. 952-954, 2023, ISBN: 0028-0836.

(Abstract | Links | BibTeX)

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.

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A. Altena; J. J. Beers; C. C. Visser

Loss-of-Control Prediction of a Quadcopter Using Recurrent Neural Networks (Journal Article)

In: Journal of Aerospace Information Systems (online), 2023, ISSN: 2327-3097.

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Alessandro Mancinelli; Bart D. W. Remes; Guido C. H. E. De Croon; Ewoud J. J. Smeur

Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation (Journal Article)

In: Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 108, no. 4, 2023, ISSN: 0921-0296.

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T. M. Blaha; E. J. J. Smeur; B. D. W. Remes

A Survey of Optimal Control Allocation for Aerial Vehicle Control (Journal Article)

In: Actuators, vol. 12, no. 7, 2023, ISSN: 2076-0825.

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Christina Harvey; G. C. H. E. Croon; Graham K. Taylor; Richard J. Bomphrey

Lessons from natural flight for aviation: then, now and tomorrow (Journal Article)

In: The Journal of Experimental Biology, vol. 226, no. 1, 2023, ISSN: 0022-0949.

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M. K. Makaveev; M. Snellen; E. J. J. Smeur

Microphones as Airspeed Sensors for Unmanned Aerial Vehicles (Journal Article)

In: Sensors, vol. 23, no. 5, 2023, ISSN: 1424-8220.

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G. C. H. E. Croon; W. Hönig; G. Theraulaz; G. Vásárhelyi

Cross-disciplinary approaches for designing intelligent swarms of drones (Journal Article)

In: Swarm Intelligence, vol. 17, no. 1-2, pp. 1–4, 2023, ISSN: 1935-3812, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Jane Pauline Ramirez; Salua Hamaza

Multimodal Locomotion: Next Generation Aerial–Terrestrial Mobile Robotics (Journal Article)

In: Advanced Intelligent Systems, 2023, ISSN: 2640-4567, (Funding Information: This research is funded by the Delft University of Technology. Publisher Copyright: © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.).

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Barbara Dix; Meng Li; Esther Roosenbrand; Colby Francoeur; Steven S. Brown; Jessica B. Gilman; Thomas F. Hanisco; J. Pepijn Veefkind; Pieternel F. Levelt; More Authors

Sources of Formaldehyde in U.S. Oil and Gas Production Regions (Journal Article)

In: ACS Earth and Space Chemistry, 2023, ISSN: 2472-3452, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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S. Schröter; E. J. J. Smeur; B. D. W. Remes

Design and Joint Control of a Conjoined Biplane and Quadrotor (Journal Article)

In: Unmanned Systems, 2023, ISSN: 2301-3850.

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E. J. J. Smeur; G. C. H. E. Croon; Q. Chu

Corrigendum to “Cascaded incremental nonlinear dynamic inversion control for MAV disturbance rejection”[Journal of Control Engineering Practice 73 (2018) 79–90, (S0967066118300030), (10.1016/j.conengprac.2018.01.003)] (Journal Article)

In: Control Engineering Practice, vol. 141, 2023, ISSN: 0967-0661.

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Books

Stephen Pringle; Zoe G. Davies; Mark A. Goddard; Martin Dallimer; Emma Hart; Léni E. Le Goff; Simon J. Langdale; Sara-Adela Abad; S. Hamaza; More Authors

Robotics and Autonomous Systems for Environmental Sustainability: Monitoring Terrestrial Biodiversity (Book)

EPSRC UK-RAS Network, 2023.

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Proceedings Articles

W. J. E. Völker; Y. Li; E. Kampen

Twin-Delayed Deep Deterministic Policy Gradient for altitude control of a flying-wing aircraft with an uncertain aerodynamic model (Proceedings Article)

In: AIAA SciTech Forum 2023, 2023, (AIAA SCITECH 2023 Forum ; Conference date: 23-01-2023 Through 27-01-2023).

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Kartik Suryavanshi; S. Hamaza; V. Wijk; J. L. Herder

ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications (Proceedings Article)

In: Proceedings IEEE International Conference on Robotics and Automation, ICRA 2023, pp. 11936–11942, IEEE, United States, 2023, ISBN: 979-8-3503-2365-8, (ICRA 2023: International Conference on Robotics and Automation ; Conference date: 29-05-2023 Through 02-06-2023).

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Sunyou Hwang; Bart D. W. Remes; Guido C. H. E. Croon

AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle (Proceedings Article)

In: 2023.

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Anique Altena; Salil Luesutthiviboon; Guido Croon; Mirjam Snellen; Mark Voskuijl

Comparison of acoustic localisation techniques for drone position estimation using real-world experimental data (Proceedings Article)

In: Carletti, Eleonora (Ed.): Proceedings of the 29th International Congress on Sound and Vibration, ICSV 2023, Society of Acoustics, 2023, (29th International Congress on Sound and Vibration, ICSV 2023 : The annual congress of the International Institute of Acoustics and Vibrations (IIAV), ICSV 2023 ; Conference date: 09-07-2023 Through 13-07-2023).

(Links | BibTeX)

Cheng Liu; Erik Jan Van Kampen; Guido C. H. E. De Croon

Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning (Proceedings Article)

In: Proceedings - ICRA 2023, pp. 7198–7204, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).

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Rik J. Bouwmeester; Federico Paredes-Valles; Guido C. H. E. De Croon

NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter (Proceedings Article)

In: Proceedings - ICRA 2023, pp. 1996–2003, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).

(Links | BibTeX)

Tom Suys; Sunyou Hwang; Guido C. H. E. De Croon; Bart D. W. Remes

Autonomous Control for Orographic Soaring of Fixed-Wing UAVs (Proceedings Article)

In: Proceedings - ICRA 2023, pp. 5338–5344, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).

(Links | BibTeX)

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

AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors (Proceedings Article)

In: Proceedings - ICRA 2023, pp. 9183–9189, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023).

(Links | BibTeX)

Gervase H. L. H. Lovell-Prescod; Ziqing Ma; Ewoud J. J. Smeur

Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control (Proceedings Article)

In: 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, pp. 842–849, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023).

(Links | BibTeX)

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

Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane (Proceedings Article)

In: 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, pp. 241–248, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023).

(Links | BibTeX)

Y. Li; E. Kampen

Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration (Proceedings Article)

In: 2023 IEEE International Conference on Mechatronics, 2023, ISBN: 978-1-6654-6662-2, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Mechatronics (ICM), ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023).

(Links | BibTeX)

J. P. R Ramirez; A. Bredenbeck; S. Hamaza

Bioinspired Compliant Limbs For Robust Landing Of Free-Flying Robots (Proceedings Article)

In: 17th Symposium on Advanced Space Technologies in Robotics and Automation, ESA/ESTEC, 2023, (17th Symposium on Advanced Space Technologies in Robotics and Automation , ASTRA 2023 ; Conference date: 18-10-2023 Through 20-10-2023).

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Salil Luesutthiviboon; Guido C. H. E. Croon; Anique V. N. Altena; Mirjam Snellen; Mark Voskuijl

Bio-inspired enhancement for optical detection of drones using convolutional neural networks (Proceedings Article)

In: Bouma, Henri; Dijk, Judith; Prabhu, Radhakrishna; Stokes, Robert J.; Yitzhaky, Yitzhak (Ed.): Artificial Intelligence for Security and Defence Applications, SPIE, United States, 2023, (Funding Information: This work is part of the “ACTION” [ACoustic detecTION of class I (< 25 kg) unmanned aircraft systems supported by optical sensors] project, funded by the Dutch Ministry of Defence. The authors also would like to thank Fredrik Svanström for answering questions regarding the dataset. ; Artificial Intelligence for Security and Defence Applications 2023 ; Conference date: 04-09-2023 Through 05-09-2023).

(Links | BibTeX)

Y. Xu; G. C. H. E. Croon

Efficient Model-Aided Visual-Inertial Ego-Motion Estimation for Multirotor MAVs (Proceedings Article)

In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 93–100, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023).

(Links | BibTeX)

S. U. Pfeiffer; C. Wagter; G. C. H. E. Croon

Improved Moving Horizon Estimation for Ultra-Wideband Localization on Small Drones (Proceedings Article)

In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 86–92, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023).

(Links | BibTeX)

R. S. Meester; Tom Dijk; C. Wagter; G. C. H. E. Croon

Frustumbug: a 3D mapless stereo-vision-based bug algorithm for Micro Air Vehicles (Proceedings Article)

In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 73–85, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023).

(Links | BibTeX)

Y. Xu; G. C. H. E. Croon

A Lightweight Learning-based Visual-Inertial Odometry (Proceedings Article)

In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 65–72, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023).

(Links | BibTeX)

Stein Stroobants; Christophe De Wagter; Guido De Croon

Neuromorphic Control using Input-Weighted Threshold Adaptation (Proceedings Article)

In: ICONS 2023 - Proceedings of International Conference on Neuromorphic Systems 2023, Association for Computing Machinery (ACM), United States, 2023, (2023 International Conference on Neuromorphic Systems, ICONS 2023 ; Conference date: 01-08-2023 Through 03-08-2023).

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A. Mancinelli; E. Horst; B. D. W. Remes; E. J. J. Smeur

Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions (Proceedings Article)

In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 109–116, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023).

(Links | BibTeX)

J. J. E. Laffita van den Hove d'Ertsenryck; E. J. J. Smeur; B. D. W. Remes

Rigid Airborne docking between a fixed-wing UAV and an over-actuated multicopter (Proceedings Article)

In: 14th annual international micro air vehicle conference and competition, pp. 231–239, 2023.

(Links | BibTeX)

Masters Theses

Momchil Makaveev

Microphones as Airspeed Sensors for Micro Air Vehicles (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

Tim Burgers

Evolving Spiking Neural Networks to Mimic PID Control: Applied to Autonomous Blimps (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Stroobants, S. (mentor); de Wagter, C. (graduation committee); Bombelli, A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Seamus McGinley

Vision-guided Quadrotor Perching on Imperfectly Cylindrical Structures (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Hamaza, S. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Michiel Firlefyn

Direct Learning of Home Vector Direction: Incited by Existing Insect-Inspired Approaches for Local Navigation and Wayfinding (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Hagenaars, J.J. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

MOJI SHI

Evaluating Dynamic Environment Difficulty for Obstacle Avoidance Benchmarking (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Cognitive Robotics, 2023, (Alonso Mora, J. (mentor); Chen, G. (mentor); Wisse, M. (graduation committee); Hamaza, S. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Youssef Farah

EV-LayerSegNet: Self-supervised Motion Segmentation using Event-based Cameras (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Mooij, E. (graduation committee); Ellerbroek, Joost (graduation committee); Paredes Valles, F. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

555 entries « 1 of 12 »