2017
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Proceedings Articles
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Sophie Armanini; Matej Karasek; Coen Visser; Guido Croon; Max Mulder Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data (Proceedings Article) In: AIAA Atmospheric Flight Mechanics Conference, 2017, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2017, (AIAA Atmospheric Flight Mechanics Conference, 2017 ; Conference date: 05-06-2017 Through 09-06-2017). @inproceedings{e3e18073acdc4389b6b49a16c41eb5e3,
title = {Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data},
author = {Sophie Armanini and Matej Karasek and Coen Visser and Guido Croon and Max Mulder},
url = {https://research.tudelft.nl/en/publications/flight-testing-and-preliminary-analysis-for-global-system-identif},
doi = {10.2514/6.2017-1634},
year = {2017},
date = {2017-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics Conference, 2017},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {AIAA Atmospheric Flight Mechanics Conference, 2017 ; Conference date: 05-06-2017 Through 09-06-2017},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kimberly McGuire; Mario Coppola; Christophe De~Wagter; Guido de~Croon Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments (Proceedings Article) In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. @inproceedings{mcguire2017iros,
title = {Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments},
author = {Kimberly McGuire and Mario Coppola and Christophe De~Wagter and Guido de~Croon},
year = {2017},
date = {2017-01-01},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Sophie F Armanini; Matej Karásek; Coen C de Visser; Guido de Croon; Max Mulder Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data (Proceedings Article) In: AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2017, ISBN: 978-1-62410-448-0. @inproceedings{Armanini2017globalModelling,
title = {Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data},
author = {Sophie F Armanini and Matej Karásek and Coen C de Visser and Guido de Croon and Max Mulder},
url = {http://arc.aiaa.org/doi/10.2514/6.2017-1634},
doi = {10.2514/6.2017-1634},
isbn = {978-1-62410-448-0},
year = {2017},
date = {2017-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics Conference},
publisher = {American Institute of Aeronautics and Astronautics},
address = {Reston, Virginia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
C De Wagter; M Karasek; G C H E de Croon Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings (Proceedings Article) In: Moschetta, J -M; Hattenberg, G; de Plinval, H (Ed.): 9th International Micro Air Vehicles Conference and Competition, pp. 249 – 256, Toulouse, France, 2017. @inproceedings{DeWagter2017b,
title = {Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings},
author = {C De Wagter and M Karasek and G C H E de Croon},
editor = {J -M Moschetta and G Hattenberg and H de Plinval},
url = {https://repository.tudelft.nl/islandora/object/uuid:b4fc2b39-b8b1-4791-b071-98557a7254f0?collection=research},
year = {2017},
date = {2017-01-01},
booktitle = {9th International Micro Air Vehicles Conference and Competition},
pages = {249 -- 256},
address = {Toulouse, France},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
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Steven Leest Directed Increment Policy Search for Behavior Tree Task Performance Optimization: Crossing the Reality Gap (Masters Thesis) TU Delft Aerospace Engineering, 2017, (van Kampen, E. (mentor); de Croon, G.C.H.E. (mentor); Scheper, K.Y.W. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:ff167b06-bbaf-4897-b76c-9f246e50eadb,
title = {Directed Increment Policy Search for Behavior Tree Task Performance Optimization: Crossing the Reality Gap},
author = {Steven Leest},
url = {http://resolver.tudelft.nl/uuid:ff167b06-bbaf-4897-b76c-9f246e50eadb},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Robotic behavior policies learned in simulation suffer from a performance degradation once transferred to a real-world robotic platform. This performance degradation originates from discrepancies between the real-world and simulation environment, referred to as the reality gap. To cross the reality gap, this papers presents a simple reinforcement learning algorithm named Directed Increment Policy Search (DIPS). DIPS is a form of episodic model-free policy search which leverages the interpretable structure and the coupling of the Behavior Tree (BT) parameters to reduce the number of required real-world evaluations. Additionally, DIPS does not require a form of reward function crafting and is robust to hyper-parameter settings. DIPS is evaluated on a simulated model of the DelFly Explorer which is tasked to perform a window fly-through maneuver. It is demonstrated that DIPS efficiently and effectively improves the BT behavior policy performance for three simulated environments with increasingly large reality gaps. We believe DIPS can generalize to other behavior representation methods and tasks due to the inherent coupling between behavior and environment experienced by embodied robots.},
note = {van Kampen, E. (mentor); de Croon, G.C.H.E. (mentor); Scheper, K.Y.W. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Robotic behavior policies learned in simulation suffer from a performance degradation once transferred to a real-world robotic platform. This performance degradation originates from discrepancies between the real-world and simulation environment, referred to as the reality gap. To cross the reality gap, this papers presents a simple reinforcement learning algorithm named Directed Increment Policy Search (DIPS). DIPS is a form of episodic model-free policy search which leverages the interpretable structure and the coupling of the Behavior Tree (BT) parameters to reduce the number of required real-world evaluations. Additionally, DIPS does not require a form of reward function crafting and is robust to hyper-parameter settings. DIPS is evaluated on a simulated model of the DelFly Explorer which is tasked to perform a window fly-through maneuver. It is demonstrated that DIPS efficiently and effectively improves the BT behavior policy performance for three simulated environments with increasingly large reality gaps. We believe DIPS can generalize to other behavior representation methods and tasks due to the inherent coupling between behavior and environment experienced by embodied robots. |
Alessandro Vanzella Structure-from-Motion Hazard Detection for Autonomous Planetary Landings (Masters Thesis) TU Delft Aerospace Engineering, 2017, (Woicke, S. (mentor); Mooij, E. (mentor); de Croon, G.C.H.E. (graduation committee); Visser, P.N.A.M. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:9494dbb1-9da0-44de-b401-02e297a3689c,
title = {Structure-from-Motion Hazard Detection for Autonomous Planetary Landings},
author = {Alessandro Vanzella},
url = {http://resolver.tudelft.nl/uuid:9494dbb1-9da0-44de-b401-02e297a3689c},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Future space exploration missions on solar system bodies will require landing safely and precisely, with an accuracy of ~100 m at touchdown. This accomplishment is made challenging by vehicle design limitations, the dearth of onboard situational awareness, and the limited knowledge of the variability of the landing terrain. To date, only the Chinese Chang’e-3 has implemented hazard detection and avoidance capabilities, within its Guidance, Navigation, and Control (GN&C) subsystem, therefore being able to actively adjust its trajectory. On the contrary, the majority of the space landers only had the ability to execute autonomously a small series of simple and programmed commands. Therefore, past missions have essentially landed "blind" in regions deemed relatively safe, forcing landing site selection to be capability-limited rather than scientifically driven. In this thesis, hazard detection was investigated as a mean to increase autonomy for planetary landings and to further decrease the risk of a landing failure, employing equipment readily available on space missions. The analysis has been limited to the framework of Structure-from-Motion (SfM) where the input images are acquired from a single moving camera and thus the scene is reconstructed from the resulting video sequence. A software package was developed and tested to compute depth maps from adjacent descent images, captured at half altitude from one to the other. The basic pinhole camera model was selected to address the measurement taken from synthetic surface images, rendered in the Planet and Asteroid Natural scene Generation Utility (PANGU). To assess the hazardousness of the terrain, hazard maps are computed combining slope, roughness, and shadow information. In contrast to the results of the Jet Propulsion Laboratory (JPL) NASA, it has been shown that rocks and boulders are not well resolved from shape recovery with both low- and high-elevation image pairs. Thus, their presence on the surface has been accounted through an adapted version of theHarris Corner detector directly on the input images. Two different mission scenarios were simulated: 1) a perfect vertical motion forward along the camera pointing direction and 2) a 45° angle dropping trajectory for a more realistic approaching descent phase, with a 40° imaging sensor line-of-site offset. Furthermore, the limitations of the developed algorithm were tested under ordinary operative conditions. For the former scenario, the results show that the overall quality of the recovered depth maps does not appear adequate enough for landing site selection. As a matter of fact, the locations around the image centre can not be correctly assessed. This represents a significant problem since these locations are the most convenient in terms of distance and guidance costs. On the contrary, the latter descent sequence indicates that below 300maltitude the software is a suitable candidate for hazard detection, with total correct detection on average >94% and the percentage of undetected hazards below the allowable maximum 1%. To assess the algorithm robustness to errors in camera position, a Monte Carlo simulation was performed. Thereupon, random uncertainties within the interval [-0.5 0.5] meters were taken into account for the altitude of both camera poses. The errors for the computed Digital Elevation Model (DEM) are bounded to the maximum allowable only when both altitudes are affected by small deviation of similar magnitude and same sign (approximately 10 cm), peaking to 250%-300% increase for the other values of the considered interval. Moreover, concerning the robustness to errors in camera orientation, deviations of the camera pointing direction were considered only along the plane containing both the normal to the surface and the camera axis. Already differences greater than +0.05°, in the imaging sensor line-of-site, are responsible for exorbitant errors in the DEM for all altitudes. These results clearly indicate that the developed SfMalgorithmis not suitable as a stand-alone method for hazard detection and landing site selection.},
note = {Woicke, S. (mentor); Mooij, E. (mentor); de Croon, G.C.H.E. (graduation committee); Visser, P.N.A.M. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Future space exploration missions on solar system bodies will require landing safely and precisely, with an accuracy of ~100 m at touchdown. This accomplishment is made challenging by vehicle design limitations, the dearth of onboard situational awareness, and the limited knowledge of the variability of the landing terrain. To date, only the Chinese Chang’e-3 has implemented hazard detection and avoidance capabilities, within its Guidance, Navigation, and Control (GN&C) subsystem, therefore being able to actively adjust its trajectory. On the contrary, the majority of the space landers only had the ability to execute autonomously a small series of simple and programmed commands. Therefore, past missions have essentially landed "blind" in regions deemed relatively safe, forcing landing site selection to be capability-limited rather than scientifically driven. In this thesis, hazard detection was investigated as a mean to increase autonomy for planetary landings and to further decrease the risk of a landing failure, employing equipment readily available on space missions. The analysis has been limited to the framework of Structure-from-Motion (SfM) where the input images are acquired from a single moving camera and thus the scene is reconstructed from the resulting video sequence. A software package was developed and tested to compute depth maps from adjacent descent images, captured at half altitude from one to the other. The basic pinhole camera model was selected to address the measurement taken from synthetic surface images, rendered in the Planet and Asteroid Natural scene Generation Utility (PANGU). To assess the hazardousness of the terrain, hazard maps are computed combining slope, roughness, and shadow information. In contrast to the results of the Jet Propulsion Laboratory (JPL) NASA, it has been shown that rocks and boulders are not well resolved from shape recovery with both low- and high-elevation image pairs. Thus, their presence on the surface has been accounted through an adapted version of theHarris Corner detector directly on the input images. Two different mission scenarios were simulated: 1) a perfect vertical motion forward along the camera pointing direction and 2) a 45° angle dropping trajectory for a more realistic approaching descent phase, with a 40° imaging sensor line-of-site offset. Furthermore, the limitations of the developed algorithm were tested under ordinary operative conditions. For the former scenario, the results show that the overall quality of the recovered depth maps does not appear adequate enough for landing site selection. As a matter of fact, the locations around the image centre can not be correctly assessed. This represents a significant problem since these locations are the most convenient in terms of distance and guidance costs. On the contrary, the latter descent sequence indicates that below 300maltitude the software is a suitable candidate for hazard detection, with total correct detection on average >94% and the percentage of undetected hazards below the allowable maximum 1%. To assess the algorithm robustness to errors in camera position, a Monte Carlo simulation was performed. Thereupon, random uncertainties within the interval [-0.5 0.5] meters were taken into account for the altitude of both camera poses. The errors for the computed Digital Elevation Model (DEM) are bounded to the maximum allowable only when both altitudes are affected by small deviation of similar magnitude and same sign (approximately 10 cm), peaking to 250%-300% increase for the other values of the considered interval. Moreover, concerning the robustness to errors in camera orientation, deviations of the camera pointing direction were considered only along the plane containing both the normal to the surface and the camera axis. Already differences greater than +0.05°, in the imaging sensor line-of-site, are responsible for exorbitant errors in the DEM for all altitudes. These results clearly indicate that the developed SfMalgorithmis not suitable as a stand-alone method for hazard detection and landing site selection. |
Diogo Tomás Cardoso Rézio Martins Fusion of stereo and monocular depth estimates in a self-supervised learning context (Masters Thesis) TU Delft Aerospace Engineering, 2017, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:faf5d4fb-5785-4d27-9d52-0b09214f3a6a,
title = {Fusion of stereo and monocular depth estimates in a self-supervised learning context},
author = {Diogo Tomás Cardoso Rézio Martins},
url = {http://resolver.tudelft.nl/uuid:faf5d4fb-5785-4d27-9d52-0b09214f3a6a},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {We study how autonomous robots can better evaluate distances by fusing depth estimates from both stereo vision and a convolutional neural network (CNN) that processes a single still image. The main contribution is a novel fusion method that preserves high confidence stereo estimates, while leveraging the CNN estimates in the low-confidence regions. The main concern with such a fusion scheme is that the CNN may work on the training set, but will degrade significantly in the operational environment. Therefore, we also show that the performance of the monocular estimator in the operational environment improves if stereo vision provides supervised targets in a self-supervised learning (SSL) fashion. The merging framework is implemented on-board of a Parrot SLAMDunk<br/>and tested in real world scenarios, providing more reliable depth maps for use in autonomous navigation.},
note = {de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We study how autonomous robots can better evaluate distances by fusing depth estimates from both stereo vision and a convolutional neural network (CNN) that processes a single still image. The main contribution is a novel fusion method that preserves high confidence stereo estimates, while leveraging the CNN estimates in the low-confidence regions. The main concern with such a fusion scheme is that the CNN may work on the training set, but will degrade significantly in the operational environment. Therefore, we also show that the performance of the monocular estimator in the operational environment improves if stereo vision provides supervised targets in a self-supervised learning (SSL) fashion. The merging framework is implemented on-board of a Parrot SLAMDunk<br/>and tested in real world scenarios, providing more reliable depth maps for use in autonomous navigation. |
Tom Dijk Low-memory Visual Route Following for Micro Aerial Vehicles in Indoor Environments (Masters Thesis) TU Delft Mechanical, Maritime and Materials Engineering, 2017, (McGuire, K.N. (mentor); de Croon, G.C.H.E. (mentor); Campoy Cervera, P. (mentor); Jonker, P.P. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:82c91d74-6c01-4718-a574-221df210f01a,
title = {Low-memory Visual Route Following for Micro Aerial Vehicles in Indoor Environments},
author = {Tom Dijk},
url = {http://resolver.tudelft.nl/uuid:82c91d74-6c01-4718-a574-221df210f01a},
year = {2017},
date = {2017-01-01},
school = {TU Delft Mechanical, Maritime and Materials Engineering},
abstract = {This thesis presents a visual route following method that minimizes memory consumption to the point that even Micro Aerial Vehicles (MAV) equipped with only a simple microcontroller can traverse distances of a few hundred meters. Existing Simultaneous Localization and Mapping (SLAM) algorithms are too complex for use on a microcontroller. Instead, the route is modeled by a sequence of snapshots that can be followed back using a combination of visual homing and odometry. Three visual homing methods are evaluated to find and compare their memory efficiency. Of these methods, Fourier-based homing performed best: it still succeeds when snapshots are compressed to less than twenty bytes. Visual homing only works from a small region surrounding the snapshot, therefore odometry is used to travel longer distances between snapshots. The proposed route following technique is tested in simulation and on a Parrot AR.Drone 2.0. The drone can successfully follow long routes with a map that consumes only 17.5 bytes per meter.<br},
note = {McGuire, K.N. (mentor); de Croon, G.C.H.E. (mentor); Campoy Cervera, P. (mentor); Jonker, P.P. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This thesis presents a visual route following method that minimizes memory consumption to the point that even Micro Aerial Vehicles (MAV) equipped with only a simple microcontroller can traverse distances of a few hundred meters. Existing Simultaneous Localization and Mapping (SLAM) algorithms are too complex for use on a microcontroller. Instead, the route is modeled by a sequence of snapshots that can be followed back using a combination of visual homing and odometry. Three visual homing methods are evaluated to find and compare their memory efficiency. Of these methods, Fourier-based homing performed best: it still succeeds when snapshots are compressed to less than twenty bytes. Visual homing only works from a small region surrounding the snapshot, therefore odometry is used to travel longer distances between snapshots. The proposed route following technique is tested in simulation and on a Parrot AR.Drone 2.0. The drone can successfully follow long routes with a map that consumes only 17.5 bytes per meter.<br |
T. I. Braber Vision-based stabilization of micro quadrotors (Masters Thesis) TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Delft Center for Systems and Control, 2017, (Babuska, Robert (mentor); de Croon, Guido (mentor); de Wagter, Christophe (mentor); de Bruin, Tim (graduation committee); Bregman, Sander (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:6e3ce742-a974-491d-97c2-1cafc090b3d9,
title = {Vision-based stabilization of micro quadrotors},
author = {T. I. Braber},
url = {http://resolver.tudelft.nl/uuid:6e3ce742-a974-491d-97c2-1cafc090b3d9},
year = {2017},
date = {2017-01-01},
school = {TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Delft Center for Systems and Control},
abstract = {On-board stabilization of quadrotors is often done using an Inertial Measurement Unit (IMU), aided by additional sensors to combat the IMU drift. For example, GPS readings can aid when flying outdoors, or when flying in GPS denied environments, such as indoors, visual information from one or more camera modules can be used. <br/>A single downwards facing camera however cannot determine the absolute height of the quadrotor, leaving the results from the Optical Flow (OF) up to scale. To estimate the velocity of the quadrotor an additional range sensor, such as an Ultrasonic Sensor (US), is used to solve this scaling problem.<br/>These solutions are difficult to scale down to micro quadrotors as the platform becomes too small to fit and lift additional sensors. Therefore stabilizing a quadrotor with a single camera and IMU only would pave the way for the development of even smaller quadrotors. This master thesis presents an adaptive control strategy to stabilize a micro quadrotor in all<br/>three axes using only an IMU and a monocular camera. This is achieved by extending the stability based approach for a single, vertical, axis by De Croon in Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy[1]. This stability based method ncreases the control gain in the visual feedback loop until the quadrotor detects it is oscillating by detecting that the covariance of the given thrust inputs and the measured divergence passes a threshold. Next the height can be estimated using the predetermined relationship between gain and height at which these self-induced oscillations occur and proper gains can be set for the estimated height. <br/>An analysis is done in simulation to present proof of concept of the stabilization method in three axis and to determine the effects of scaling and the effects of varying effective Frames per Second (FPS) caused by computations. It was shown that the adaptive gain strategy can stabilize the simulated quadrotor and prevent it from drifting. Furthermore, the control gains were scaled such that the effects of scaling a quadrotor could be mostly negated, though at about a tenth of the scale the simulated noise had such an influence that the scaled gains could not negate it anymore. Furthermore, the minimum effective FPS required to stabilize an ARDrone 2 was determined to be 15 FPS, and it was shown that an increase in effective FPS aids stabilizing the smaller scale quadrotors that became unstable due to the scaling effects.<br/>Furthermore, flights on an Parrot ARDrone 2 and Parrot Bebop are performed to show the usability of this control strategy in real life. It was shown that both quadrotors could achieve stable hover without drifting at multiple heights, using various strategies.<br},
note = {Babuska, Robert (mentor); de Croon, Guido (mentor); de Wagter, Christophe (mentor); de Bruin, Tim (graduation committee); Bregman, Sander (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
On-board stabilization of quadrotors is often done using an Inertial Measurement Unit (IMU), aided by additional sensors to combat the IMU drift. For example, GPS readings can aid when flying outdoors, or when flying in GPS denied environments, such as indoors, visual information from one or more camera modules can be used. <br/>A single downwards facing camera however cannot determine the absolute height of the quadrotor, leaving the results from the Optical Flow (OF) up to scale. To estimate the velocity of the quadrotor an additional range sensor, such as an Ultrasonic Sensor (US), is used to solve this scaling problem.<br/>These solutions are difficult to scale down to micro quadrotors as the platform becomes too small to fit and lift additional sensors. Therefore stabilizing a quadrotor with a single camera and IMU only would pave the way for the development of even smaller quadrotors. This master thesis presents an adaptive control strategy to stabilize a micro quadrotor in all<br/>three axes using only an IMU and a monocular camera. This is achieved by extending the stability based approach for a single, vertical, axis by De Croon in Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy[1]. This stability based method ncreases the control gain in the visual feedback loop until the quadrotor detects it is oscillating by detecting that the covariance of the given thrust inputs and the measured divergence passes a threshold. Next the height can be estimated using the predetermined relationship between gain and height at which these self-induced oscillations occur and proper gains can be set for the estimated height. <br/>An analysis is done in simulation to present proof of concept of the stabilization method in three axis and to determine the effects of scaling and the effects of varying effective Frames per Second (FPS) caused by computations. It was shown that the adaptive gain strategy can stabilize the simulated quadrotor and prevent it from drifting. Furthermore, the control gains were scaled such that the effects of scaling a quadrotor could be mostly negated, though at about a tenth of the scale the simulated noise had such an influence that the scaled gains could not negate it anymore. Furthermore, the minimum effective FPS required to stabilize an ARDrone 2 was determined to be 15 FPS, and it was shown that an increase in effective FPS aids stabilizing the smaller scale quadrotors that became unstable due to the scaling effects.<br/>Furthermore, flights on an Parrot ARDrone 2 and Parrot Bebop are performed to show the usability of this control strategy in real life. It was shown that both quadrotors could achieve stable hover without drifting at multiple heights, using various strategies.<br |
Niek Klein Koerkamp Human Control Performance in Solving Multi-UAV Dynamic Vehicle Routing Problems Using an Ecological Interface (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2017, (Borst, C. (mentor); de Croon, G.C.H.E. (graduation committee); van Paassen, M.M. (graduation committee); Mulder, Max (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:d00ade0b-7350-4d28-baf7-55d56a185032,
title = {Human Control Performance in Solving Multi-UAV Dynamic Vehicle Routing Problems Using an Ecological Interface},
author = {Niek Klein Koerkamp},
url = {http://resolver.tudelft.nl/uuid:d00ade0b-7350-4d28-baf7-55d56a185032},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Simulation},
abstract = {Real-time optimization of Vehicle Routing Problems during mission operations raises concerns regarding reliability of obtaining a solution and solution time. Improvements in control performance by having a human-in-the-loop might be possible by leveraging human visual pattern recognition qualities. By developing an ecological interface, supporting the operator in controlling multiple Unmanned Aerial Vehicles in a simulated payload delivery mission, and by conducting a human-in-the-loop experiment, interface effectiveness and human control performance in Dynamic Vehicle Routing Problems was investigated. Results show the ecological interface offers good support and scales well with problem size. Results also show participants can in some cases achieve solutions faster and more reliably compared to an optimization algorithm, although generally yielding less efficient solutions. Having a human-in-the-loop can thus offer improved control performance over relying on pure automation, especially in time critical situations.},
note = {Borst, C. (mentor); de Croon, G.C.H.E. (graduation committee); van Paassen, M.M. (graduation committee); Mulder, Max (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Real-time optimization of Vehicle Routing Problems during mission operations raises concerns regarding reliability of obtaining a solution and solution time. Improvements in control performance by having a human-in-the-loop might be possible by leveraging human visual pattern recognition qualities. By developing an ecological interface, supporting the operator in controlling multiple Unmanned Aerial Vehicles in a simulated payload delivery mission, and by conducting a human-in-the-loop experiment, interface effectiveness and human control performance in Dynamic Vehicle Routing Problems was investigated. Results show the ecological interface offers good support and scales well with problem size. Results also show participants can in some cases achieve solutions faster and more reliably compared to an optimization algorithm, although generally yielding less efficient solutions. Having a human-in-the-loop can thus offer improved control performance over relying on pure automation, especially in time critical situations. |
Seong Hun Lee Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation (Masters Thesis) TU Delft Aerospace Engineering, 2017, (de Croon, G.C.H.E. (mentor); Hoekstra, J.M. (graduation committee); Kooij, J.F.P. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:015f322f-9d86-4717-b2e2-74cf25bfa70c,
title = {Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation},
author = {Seong Hun Lee},
url = {http://resolver.tudelft.nl/uuid:015f322f-9d86-4717-b2e2-74cf25bfa70c},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {We propose a novel method to deal with the scale ambiguity in monocular SLAM based on control stability. We analytically show that (1) using unscaled state feedback from monocular SLAM for control can lead to system instability, and (2) there is a unique linear relationship between the absolute scale of the SLAM system and the control gain at which instability arises. Using this property, our method estimates the scale by adapting the gain and detecting self-induced oscillations. Unlike conventional monocular approaches, no additional metric sensors are used for scale estimation. We demonstrate the ability of our system to estimate the scale for performing autonomous indoor navigation with a low-cost quadrotor MAV.},
note = {de Croon, G.C.H.E. (mentor); Hoekstra, J.M. (graduation committee); Kooij, J.F.P. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We propose a novel method to deal with the scale ambiguity in monocular SLAM based on control stability. We analytically show that (1) using unscaled state feedback from monocular SLAM for control can lead to system instability, and (2) there is a unique linear relationship between the absolute scale of the SLAM system and the control gain at which instability arises. Using this property, our method estimates the scale by adapting the gain and detecting self-induced oscillations. Unlike conventional monocular approaches, no additional metric sensors are used for scale estimation. We demonstrate the ability of our system to estimate the scale for performing autonomous indoor navigation with a low-cost quadrotor MAV. |
Nacho Granero Moneva Thermal Modelling and Thermal Control Optimisation of the mN-μHEMPT (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Space Engineering, 2017, (Cervone, A. (mentor); Hey, Franz Georg (mentor); Zandbergen, B.T.C. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:0333e720-8105-4429-abcd-430c0d04f031,
title = {Thermal Modelling and Thermal Control Optimisation of the mN-μHEMPT},
author = {Nacho Granero Moneva},
url = {http://resolver.tudelft.nl/uuid:0333e720-8105-4429-abcd-430c0d04f031},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Space Engineering},
abstract = {Airbus Friedrichshafen is working on the development of a milliNewton HEMPT (High Efficiency<br/>Multistage Plasma Thruster): an electrostatic thruster concept suitable for small satellite<br/>propulsion. An engineering model, the mN-μHEMPT, has been built and tested in vacuum,<br/>generating thrust levels in the range of 1 to 5 mN. Although the working principle is understood,<br/>there is still uncertainty in the loss process, in particular the heat transfer in the plasma-wall<br/>interaction. An efficient heat management is crucial for the operation of the thruster, as the<br/>performance of the magnets is severely hindered after reaching 250ºC. With this in mind, the<br/>present thesis aims to produce the first thermal model of the mN-μHEMPT, with which a detailed<br/>thermal analysis can be carried out. The model validation strategy, based on correlation<br/>to testing results, makes it possible to overcome the uncertainty regarding the thermal losses.<br/>By simulating the operation of the thruster in extreme load cases in a Low Earth Orbit, its<br/>thermal performance is assessed, resulting in a detailed understanding of the temperature<br/>evolution and heat propagation through the different components. This information is then<br/>used to improve the performance by implementing design modifications. The result of the<br/>thesis is a thermal model validated to within 1.65ºC as mean deviation, predicting a maximum<br/>temperature of 180ºC at the magnet stack during operation. The application of a boron nitride<br/>coating to the radiator and the decoupling of the heat losses at the magnet stack and at the<br/>anode thanks to a second radiator, results in a maximum temperature of the magnet stack<br/>of 85ºC. In conclusion, the thermal performance of the mN-μHEMPT is analysed for the first<br/>time, and the design modifications proposed become a successful improvement.},
note = {Cervone, A. (mentor); Hey, Franz Georg (mentor); Zandbergen, B.T.C. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Airbus Friedrichshafen is working on the development of a milliNewton HEMPT (High Efficiency<br/>Multistage Plasma Thruster): an electrostatic thruster concept suitable for small satellite<br/>propulsion. An engineering model, the mN-μHEMPT, has been built and tested in vacuum,<br/>generating thrust levels in the range of 1 to 5 mN. Although the working principle is understood,<br/>there is still uncertainty in the loss process, in particular the heat transfer in the plasma-wall<br/>interaction. An efficient heat management is crucial for the operation of the thruster, as the<br/>performance of the magnets is severely hindered after reaching 250ºC. With this in mind, the<br/>present thesis aims to produce the first thermal model of the mN-μHEMPT, with which a detailed<br/>thermal analysis can be carried out. The model validation strategy, based on correlation<br/>to testing results, makes it possible to overcome the uncertainty regarding the thermal losses.<br/>By simulating the operation of the thruster in extreme load cases in a Low Earth Orbit, its<br/>thermal performance is assessed, resulting in a detailed understanding of the temperature<br/>evolution and heat propagation through the different components. This information is then<br/>used to improve the performance by implementing design modifications. The result of the<br/>thesis is a thermal model validated to within 1.65ºC as mean deviation, predicting a maximum<br/>temperature of 180ºC at the magnet stack during operation. The application of a boron nitride<br/>coating to the radiator and the decoupling of the heat losses at the magnet stack and at the<br/>anode thanks to a second radiator, results in a maximum temperature of the magnet stack<br/>of 85ºC. In conclusion, the thermal performance of the mN-μHEMPT is analysed for the first<br/>time, and the design modifications proposed become a successful improvement. |
Tobias Heil Enhanced Sparse Depth Reconstruction Using Edge and Temporal Information: An Application to Micro Air Vehicles (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Operations, 2017, (de Croon, G.C.H.E. (mentor); Gao, Zhi (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:de84d7b7-52f7-4c0f-a00f-d7a6c244a678,
title = {Enhanced Sparse Depth Reconstruction Using Edge and Temporal Information: An Application to Micro Air Vehicles},
author = {Tobias Heil},
url = {http://resolver.tudelft.nl/uuid:de84d7b7-52f7-4c0f-a00f-d7a6c244a678},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Operations},
abstract = {The reconstruction of dense depth maps is of great value to resource-constrained Mirco Air Vehicles (MAVs), in the pursuit of achieving autonomous flight with a high situational awareness. Most MAVs implement sensing methods which provide a sparse depth map, limiting their capabilities significantly. This article introduces two novel methods to enhance existing depth reconstruction algorithms in terms of geometric reconstruction, depth approximation and computational time. The first contribution is the introduction of a novel method that includes edge information from the image-domain into the depth-regularization problem. This to enhance the retrieval of the complete scene geometry. The second contribution is a novel scheme which includes temporal information in the reconstruction approach, allowing extremely sparse depth scenes to be reconstructed. By estimating the geometric transformation with optical flow, previous depth reconstructions can be used as initial solutions for the current depth-regularization problem. Empirical results show a consistent reduction reconstruction error, while at the same time reducing the computational time. Qualitative estimation shows significant improvement in the retrieval of scene geometry.},
note = {de Croon, G.C.H.E. (mentor); Gao, Zhi (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
The reconstruction of dense depth maps is of great value to resource-constrained Mirco Air Vehicles (MAVs), in the pursuit of achieving autonomous flight with a high situational awareness. Most MAVs implement sensing methods which provide a sparse depth map, limiting their capabilities significantly. This article introduces two novel methods to enhance existing depth reconstruction algorithms in terms of geometric reconstruction, depth approximation and computational time. The first contribution is the introduction of a novel method that includes edge information from the image-domain into the depth-regularization problem. This to enhance the retrieval of the complete scene geometry. The second contribution is a novel scheme which includes temporal information in the reconstruction approach, allowing extremely sparse depth scenes to be reconstructed. By estimating the geometric transformation with optical flow, previous depth reconstructions can be used as initial solutions for the current depth-regularization problem. Empirical results show a consistent reduction reconstruction error, while at the same time reducing the computational time. Qualitative estimation shows significant improvement in the retrieval of scene geometry. |
Wilco Vlenterie Velocity Templates for Dense Swarms of Flying Robots (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Operations, 2017, (Chu, Q. P. (mentor); de Croon, G.C.H.E. (mentor); Remes, B.D.W. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:ec5df737-cad0-4b24-89a0-75d45ebac51b,
title = {Velocity Templates for Dense Swarms of Flying Robots},
author = {Wilco Vlenterie},
url = {http://resolver.tudelft.nl/uuid:ec5df737-cad0-4b24-89a0-75d45ebac51b},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Operations},
abstract = {In the near future many tasks could be performed by swarms of flying robots. To successfully implement multiple of these swarms in the same airspace they will have to be decentralised, autonomously cope with high densities and even resolve conflicting objectives of other swarms, while remaining controllable by operators through high-level objectives. This article introduces a novel swarming approach dubbed "Velocity Templates" based on artificial potential fields. These global fields represent the objectives of the swarm, which are balanced with local interaction. Different fields are considered leading to still or sustained motion swarms where conflicting objectives between sub-groups or multiple swarms are gracefully resolved. The approach is implemented on groups of 2 and 4 Parrot Bebop UAVs, using an efficient on-board vision algorithm to locate neighbours and a motion tracking system for guidance. The experiments show promising results for further outdoor tests assessing the scalability of the proposed approach.},
note = {Chu, Q. P. (mentor); de Croon, G.C.H.E. (mentor); Remes, B.D.W. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
In the near future many tasks could be performed by swarms of flying robots. To successfully implement multiple of these swarms in the same airspace they will have to be decentralised, autonomously cope with high densities and even resolve conflicting objectives of other swarms, while remaining controllable by operators through high-level objectives. This article introduces a novel swarming approach dubbed "Velocity Templates" based on artificial potential fields. These global fields represent the objectives of the swarm, which are balanced with local interaction. Different fields are considered leading to still or sustained motion swarms where conflicting objectives between sub-groups or multiple swarms are gracefully resolved. The approach is implemented on groups of 2 and 4 Parrot Bebop UAVs, using an efficient on-board vision algorithm to locate neighbours and a motion tracking system for guidance. The experiments show promising results for further outdoor tests assessing the scalability of the proposed approach. |
Nicolás Omar Abuter Grebe Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2017, (de Wagter, C. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:edbb8630-d1ad-4230-b4cd-f593e81622b2,
title = {Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model},
author = {Nicolás Omar Abuter Grebe},
url = {http://resolver.tudelft.nl/uuid:edbb8630-d1ad-4230-b4cd-f593e81622b2},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Simulation},
abstract = {State of the art trajectory generation schemes for quadrotors assume a simple dynamic model. They neglect aerodynamic effects such as induced drag and blade flapping and assume that no wind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP). There are various software-implementations of the DDP scheme. For future deployment on robotic hardware the software is required to be computationally efficient, written in C++ and to be open-source. A library named GCOP, which was developed at the John Hopkins University, fulfills these requirements and is used. Before implementing the solver, a full model of the Crazyflie Nano Quadcopter is identified experimentally. The solver is validated, normalized and the performance is benchmarked. This method yields reliable minimum control-effort trajectories. A control scheme is proposed and studied in Monte-Carlo simulations. Itis robust and able to handle large modelling errors in mass and moment of inertia while ensuring minimal error on the final state.},
note = {de Wagter, C. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
State of the art trajectory generation schemes for quadrotors assume a simple dynamic model. They neglect aerodynamic effects such as induced drag and blade flapping and assume that no wind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP). There are various software-implementations of the DDP scheme. For future deployment on robotic hardware the software is required to be computationally efficient, written in C++ and to be open-source. A library named GCOP, which was developed at the John Hopkins University, fulfills these requirements and is used. Before implementing the solver, a full model of the Crazyflie Nano Quadcopter is identified experimentally. The solver is validated, normalized and the performance is benchmarked. This method yields reliable minimum control-effort trajectories. A control scheme is proposed and studied in Monte-Carlo simulations. Itis robust and able to handle large modelling errors in mass and moment of inertia while ensuring minimal error on the final state. |
F. G. J. Rijks Studying the effect of the tail on the dynamics of a flapping-wing MAV (Masters Thesis) Delft University of Technology, 2017, (De Visser, C.C. (mentor); Karásek, M. (mentor); Armanini, S.F. (mentor)). @mastersthesis{uuid:18dee61c-9828-430a-9d71-5a12586da89c,
title = {Studying the effect of the tail on the dynamics of a flapping-wing MAV},
author = {F. G. J. Rijks},
url = {http://resolver.tudelft.nl/uuid:18dee61c-9828-430a-9d71-5a12586da89c},
year = {2017},
date = {2017-01-01},
school = {Delft University of Technology},
abstract = {The effects of horizontal tail geometry and position on longitudinal flapping-wing micro aerial vehicle dynamics were studied using wind tunnel and free-flight experiments. Linearised models were used to analyse the effect on the dynamic properties of the ornithopter. Results show higher steady-state velocity and increased pitch damping for increased tail surface area and aspect ratio. The maximum span width of the tail surface is also found to play an important role in determining dynamic behaviour, in particular when the distance between the tail surface and the flapping wings is large. Steady-state conditions can be predicted accurately using linear functions of tail geometry for this ornithopter. Predicting dynamic behaviour is more complicated and requires further study. However, the observed trends in some of the model parameters suggest that future models explicitly including the tail geometry may be used to design flapping-wing robots with desirable dynamic properties.},
note = {De Visser, C.C. (mentor); Karásek, M. (mentor); Armanini, S.F. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
The effects of horizontal tail geometry and position on longitudinal flapping-wing micro aerial vehicle dynamics were studied using wind tunnel and free-flight experiments. Linearised models were used to analyse the effect on the dynamic properties of the ornithopter. Results show higher steady-state velocity and increased pitch damping for increased tail surface area and aspect ratio. The maximum span width of the tail surface is also found to play an important role in determining dynamic behaviour, in particular when the distance between the tail surface and the flapping wings is large. Steady-state conditions can be predicted accurately using linear functions of tail geometry for this ornithopter. Predicting dynamic behaviour is more complicated and requires further study. However, the observed trends in some of the model parameters suggest that future models explicitly including the tail geometry may be used to design flapping-wing robots with desirable dynamic properties. |
Miscellaneous
|
Marija Popovic; Teresa Vidal-Calleja; Gregory Hitz; Inkyu Sa; Roland Siegwart; Juan Nieto Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring (Miscellaneous) 2017. @misc{1703.02854,
title = {Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring},
author = {Marija Popovic and Teresa Vidal-Calleja and Gregory Hitz and Inkyu Sa and Roland Siegwart and Juan Nieto},
url = {https://arxiv.org/abs/1703.02854},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Inkyu Sa; Zetao Chen; Marija Popovic; Raghav Khanna; Frank Liebisch; Juan Nieto; Roland Siegwart weedNet: Dense Semantic Weed Classification Using Multispectral Images and MAV for Smart Farming (Miscellaneous) 2017. @misc{1709.03329,
title = {weedNet: Dense Semantic Weed Classification Using Multispectral Images and MAV for Smart Farming},
author = {Inkyu Sa and Zetao Chen and Marija Popovic and Raghav Khanna and Frank Liebisch and Juan Nieto and Roland Siegwart},
url = {https://arxiv.org/abs/1709.03329},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Inkyu Sa; Mina Kamel; Raghav Khanna; Marija Popovic; Juan Nieto; Roland Siegwart Dynamic System Identification, and Control for a cost effective open-source VTOL MAV (Miscellaneous) 2017. @misc{1701.08623,
title = {Dynamic System Identification, and Control for a cost effective open-source VTOL MAV},
author = {Inkyu Sa and Mina Kamel and Raghav Khanna and Marija Popovic and Juan Nieto and Roland Siegwart},
url = {https://arxiv.org/abs/1701.08623},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
G. C. H. E. Croon Self-supervised learning: When is fusion of the primary and secondary sensor cue useful? (Miscellaneous) 2017. @misc{1709.08126,
title = {Self-supervised learning: When is fusion of the primary and secondary sensor cue useful?},
author = {G. C. H. E. Croon},
url = {https://arxiv.org/abs/1709.08126},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Christophe Wagter Multiple pairs of flapping wings for attitude control (Miscellaneous) 2017, (Patent: OCT15069; NL2016130B1; B64C 33/02 B64C 39/00). @misc{b668c2dfdde24b9d856d630595e28146,
title = {Multiple pairs of flapping wings for attitude control},
author = {Christophe Wagter},
url = {https://research.tudelft.nl/en/publications/multiple-pairs-of-flapping-wings-for-attitude-control},
year = {2017},
date = {2017-01-01},
note = {Patent: OCT15069; NL2016130B1; B64C 33/02 B64C 39/00},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Salua Hamaza; Ioannis Georgilas; Thomas Richardson Towards An Adaptive Compliant Aerial Manipulator for Contact-Based Interaction (Miscellaneous) 2017. @misc{1709.08536,
title = {Towards An Adaptive Compliant Aerial Manipulator for Contact-Based Interaction},
author = {Salua Hamaza and Ioannis Georgilas and Thomas Richardson},
url = {https://arxiv.org/abs/1709.08536},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
Sjoerd Tijmons Autonomous Flight of Flapping Wing Micro Air Vehicles (PhD Thesis) Delft University of Technology, 2017, ISBN: 978-94-6233-834-0. @phdthesis{74fee365ba6d456a8ec0358dc708eef4,
title = {Autonomous Flight of Flapping Wing Micro Air Vehicles},
author = {Sjoerd Tijmons},
url = {https://research.tudelft.nl/en/publications/autonomous-flight-of-flapping-wing-micro-air-vehicles},
doi = {10.4233/uuid:74fee365-ba6d-456a-8ec0-358dc708eef4},
isbn = {978-94-6233-834-0},
year = {2017},
date = {2017-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
Hann Woei Ho Autonomous landing of Micro Air Vehicles through bio-inspired monocular vision (PhD Thesis) Delft University of Technology, 2017, ISBN: 978-94-6186-818-3. @phdthesis{7efd562f82fa468fb074bfa7d640a9ee,
title = {Autonomous landing of Micro Air Vehicles through bio-inspired monocular vision},
author = {Hann Woei Ho},
url = {https://research.tudelft.nl/en/publications/autonomous-landing-of-micro-air-vehicles-through-bio-inspired-mon},
doi = {10.4233/uuid:7efd562f-82fa-468f-b074-bfa7d640a9ee},
isbn = {978-94-6186-818-3},
year = {2017},
date = {2017-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
2016
|
Journal Articles
|
S. F. Armanini; M. Polak; J. E. Gautrey; A. Lucas; J. F. Whidborne Decision-making for unmanned aerial vehicle operation in icing conditions (Journal Article) In: CEAS Aeronautical Journal, vol. 7, no. 4, pp. 663–675, 2016, ISSN: 1869-5582. @article{38eeb24456c34b1e8b889eb41d728f83,
title = {Decision-making for unmanned aerial vehicle operation in icing conditions},
author = {S. F. Armanini and M. Polak and J. E. Gautrey and A. Lucas and J. F. Whidborne},
url = {https://research.tudelft.nl/en/publications/decision-making-for-unmanned-aerial-vehicle-operation-in-icing-co},
doi = {10.1007/s13272-016-0215-2},
issn = {1869-5582},
year = {2016},
date = {2016-12-01},
journal = {CEAS Aeronautical Journal},
volume = {7},
number = {4},
pages = {663–675},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Ewoud J J Smeur; Qiping P Chu; Guido C H E de Croon Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles (Journal Article) In: Journal of Guidance, Control, and Dynamics, vol. 39, no. 3, pp. 450-461, 2016. @article{smeur2016a,
title = {Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles},
author = {Ewoud J J Smeur and Qiping P Chu and Guido C H E de Croon},
doi = {10.2514/1.G001490},
year = {2016},
date = {2016-03-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {39},
number = {3},
pages = {450-461},
publisher = {AIAA},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Kirk Scheper; Sjoerd Tijmons; Coen Visser; Guido Croon Behavior Trees for Evolutionary Robotics (Journal Article) In: Artificial Life, vol. 22, no. 1, pp. 23–48, 2016, ISSN: 1064-5462. @article{8a89b8035e7640cd8c22b9b9c10e46dc,
title = {Behavior Trees for Evolutionary Robotics},
author = {Kirk Scheper and Sjoerd Tijmons and Coen Visser and Guido Croon},
url = {https://research.tudelft.nl/en/publications/behavior-trees-for-evolutionary-robotics},
doi = {10.1162/ARTL_a_00192},
issn = {1064-5462},
year = {2016},
date = {2016-02-17},
journal = {Artificial Life},
volume = {22},
number = {1},
pages = {23–48},
publisher = {MIT Press Journals},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Guido Croon Monocular distance estimation with optical flow maneuvers and efference copies: a stability based strategy (Journal Article) In: Bioinspiration & Biomimetics: learning from nature, vol. 11, no. 1, pp. 1–18, 2016, ISSN: 1748-3182. @article{2a0caf1b3fae4418873ac6f5a54dfd98,
title = {Monocular distance estimation with optical flow maneuvers and efference copies: a stability based strategy},
author = {Guido Croon},
url = {https://research.tudelft.nl/en/publications/monocular-distance-estimation-with-optical-flow-maneuvers-and-eff},
doi = {10.1088/1748-3190/11/1/016004},
issn = {1748-3182},
year = {2016},
date = {2016-01-07},
journal = {Bioinspiration & Biomimetics: learning from nature},
volume = {11},
number = {1},
pages = {1–18},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S. Lochem; Clark Borst; Guido Croon; Rene Paassen; Max Mulder Ecological Interface for Collaboration of Multiple UAVs in Remote Areas (Journal Article) In: IFAC-PapersOnLine, vol. 49, no. 19, pp. 450–455, 2016, ISSN: 2405-8963, (13th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, HMS 2016 ; Conference date: 30-08-2016 Through 02-09-2016). @article{d7ffc4a000a146eabaa38d9d4890633f,
title = {Ecological Interface for Collaboration of Multiple UAVs in Remote Areas},
author = {S. Lochem and Clark Borst and Guido Croon and Rene Paassen and Max Mulder},
url = {https://research.tudelft.nl/en/publications/ecological-interface-for-collaboration-of-multiple-uavs-in-remote},
doi = {10.1016/j.ifacol.2016.10.620},
issn = {2405-8963},
year = {2016},
date = {2016-01-01},
journal = {IFAC-PapersOnLine},
volume = {49},
number = {19},
pages = {450–455},
publisher = {Elsevier},
note = {13th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, HMS 2016 ; Conference date: 30-08-2016 Through 02-09-2016},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Sophie Armanini; Joao Aguiar Vieira Caetano; Guido Croon; Coen Visser; Max Mulder Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data (Journal Article) In: Bioinspiration & Biomimetics: learning from nature, vol. 11, no. 4, 2016, ISSN: 1748-3182. @article{582c8bb07f364cd89358d2f8df024f82,
title = {Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data},
author = {Sophie Armanini and Joao Aguiar Vieira Caetano and Guido Croon and Coen Visser and Max Mulder},
url = {https://research.tudelft.nl/en/publications/quasi-steady-aerodynamic-model-of-clap-and-fling-flapping-mav-and},
doi = {10.1088/1748-3190/11/4/046002},
issn = {1748-3182},
year = {2016},
date = {2016-01-01},
journal = {Bioinspiration & Biomimetics: learning from nature},
volume = {11},
number = {4},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Mustafa Perçin; Bas Oudheusden; Guido Croon; Bart Remes Force generation and wing deformation characteristics of a flappingwing micro air vehicle ‘DelFly II’ in hovering flight (Journal Article) In: Bioinspiration & Biomimetics: learning from nature, vol. 11, 2016, ISSN: 1748-3182. @article{6f91d4246d694aafbb9ff379bf285577,
title = {Force generation and wing deformation characteristics of a flappingwing micro air vehicle ‘DelFly II’ in hovering flight},
author = {Mustafa Perçin and Bas Oudheusden and Guido Croon and Bart Remes},
url = {https://research.tudelft.nl/en/publications/force-generation-and-wing-deformation-characteristics-of-a-flappi},
doi = {10.1088/1748-3190/11/3/036014},
issn = {1748-3182},
year = {2016},
date = {2016-01-01},
journal = {Bioinspiration & Biomimetics: learning from nature},
volume = {11},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Ewoud Smeur; Qiping Chu; Guido Croon Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles (Journal Article) In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 39, no. 3, pp. 450–461, 2016, ISSN: 0731-5090. @article{31536cfa89e14d44873ef2f398bd69ca,
title = {Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles},
author = {Ewoud Smeur and Qiping Chu and Guido Croon},
url = {https://research.tudelft.nl/en/publications/adaptive-incremental-nonlinear-dynamic-inversion-for-attitude-con-2},
doi = {10.2514/1.G001490},
issn = {0731-5090},
year = {2016},
date = {2016-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
volume = {39},
number = {3},
pages = {450–461},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S F Armanini; J V Caetano; G C H E de Croon; C C de Visser; M Mulder Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data (Journal Article) In: Bioinspiration & Biomimetics, vol. 11, no. 4, pp. 046002, 2016. @article{armanini2016quasi,
title = {Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data},
author = {S F Armanini and J V Caetano and G C H E de Croon and C C de Visser and M Mulder},
year = {2016},
date = {2016-01-01},
journal = {Bioinspiration & Biomimetics},
volume = {11},
number = {4},
pages = {046002},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
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|
S F Armanini; De C C Visser; De G C H E Croon; M Mulder Time-varying model identification of flapping-wing vehicle dynamics using flight data (Journal Article) In: Journal of Guidance, Control, and Dynamics, vol. 39, no. 3, pp. 526–541, 2016. @article{Armanini2016b,
title = {Time-varying model identification of flapping-wing vehicle dynamics using flight data},
author = {S F Armanini and De C C Visser and De G C H E Croon and M Mulder},
doi = {10.2514/1.G001470},
year = {2016},
date = {2016-01-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {39},
number = {3},
pages = {526--541},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
M Percin; B W van Oudheusden; G C H E de Croon; B Remes Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II in hovering flight (Journal Article) In: Bioinspiration & biomimetics, vol. 11, no. 3, pp. 036014, 2016. @article{percin2016force,
title = {Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II in hovering flight},
author = {M Percin and B W van Oudheusden and G C H E de Croon and B Remes},
year = {2016},
date = {2016-01-01},
journal = {Bioinspiration & biomimetics},
volume = {11},
number = {3},
pages = {036014},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
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|
SF Armanini; CC Visser; GCHE Croon; M Mulder Time-varying model identification of flapping-wing vehicle dynamics using flight data (Journal Article) In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 39, no. 3, pp. 526–541, 2016, ISSN: 0731-5090. @article{36c5500d3e874b779e35e8af4189f380,
title = {Time-varying model identification of flapping-wing vehicle dynamics using flight data},
author = {SF Armanini and CC Visser and GCHE Croon and M Mulder},
url = {https://research.tudelft.nl/en/publications/time-varying-model-identification-of-flapping-wing-vehicle-dynami},
doi = {10.2514/1.G001470},
issn = {0731-5090},
year = {2016},
date = {2016-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
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pages = {526–541},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
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|
Books
|
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 (Book) Springer Netherlands, 2016, ISBN: 978-94-017-9207-3. @book{DeCroon2016,
title = {The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot},
author = {G C H E de Croon and Mustafa Percin and B D W Remes and Rick Ruijsink and C De Wagter},
doi = {10.1007/978-94-017-9208-0},
isbn = {978-94-017-9207-3},
year = {2016},
date = {2016-01-01},
pages = {218},
publisher = {Springer Netherlands},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
GCHE Decroon; M Percin; BDW Remes; R Ruijsink; C Wagter The Delfly: Design, aerodynamics, and artificial intelligence of a flapping wing robot (Book) Springer, 2016, ISBN: 978-940179208-0, (harvest). @book{91ecc6e0ad7143a3bc8e28b66e487989,
title = {The Delfly: Design, aerodynamics, and artificial intelligence of a flapping wing robot},
author = {GCHE Decroon and M Percin and BDW Remes and R Ruijsink and C Wagter},
url = {https://research.tudelft.nl/en/publications/the-delfly-design-aerodynamics-and-artificial-intelligence-of-a-f},
doi = {10.1007/978-94-017-9208-0},
isbn = {978-940179208-0},
year = {2016},
date = {2016-01-01},
publisher = {Springer},
note = {harvest},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Proceedings Articles
|
Clint Nous; Roland Meertens; Christophe De Wagter; Guido De Croon Performance evaluation in obstacle avoidance (Proceedings Article) In: IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3614–3619, Institute of Electrical and Electronics Engineers (IEEE), United States, 2016, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{2d30681de80f456e96012dc3c27221c4,
title = {Performance evaluation in obstacle avoidance},
author = {Clint Nous and Roland Meertens and Christophe De Wagter and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/performance-evaluation-in-obstacle-avoidance},
doi = {10.1109/IROS.2016.7759532},
year = {2016},
date = {2016-11-28},
booktitle = {IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
volume = {2016-November},
pages = {3614–3619},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
L. N C Sikkel; G. C H E De Croon; C. De Wagter; Q. P. Chu A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs (Proceedings Article) In: IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2141–2146, Institute of Electrical and Electronics Engineers (IEEE), United States, 2016, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{dd20198778e84c22a0474337f5182ecf,
title = {A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs},
author = {L. N C Sikkel and G. C H E De Croon and C. De Wagter and Q. P. Chu},
url = {https://research.tudelft.nl/en/publications/a-novel-online-model-based-wind-estimation-approach-for-quadrotor},
doi = {10.1109/IROS.2016.7759336},
year = {2016},
date = {2016-11-28},
booktitle = {IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
volume = {2016-November},
pages = {2141–2146},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Christophe De Wagter; Ewoud Smeur Control of a Hybrid Helicopter with Wings (Proceedings Article) In: Peng, Z.; Lin, F. (Ed.): International Micro Air Vechicle Competition and Conference 2016, pp. 87–94, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016). @inproceedings{d7a12fa91f174045b7f73033fa496566,
title = {Control of a Hybrid Helicopter with Wings},
author = {Christophe De Wagter and Ewoud Smeur},
editor = {Z. Peng and F. Lin},
url = {https://research.tudelft.nl/en/publications/control-of-a-hybrid-helicopter-with-wings},
year = {2016},
date = {2016-10-17},
booktitle = {International Micro Air Vechicle Competition and Conference 2016},
pages = {87–94},
note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kirk Scheper; Guido Croon Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics (Proceedings Article) In: Tuci, Elio; Giagkos, Alexandros; Wilson, Myra; Hallam, John (Ed.): From Animals to Animats 14, pp. 280–292, Springer, 2016, ISBN: 978-3-319-43487-2. @inproceedings{228b1c6d26fc487aa0e3bfbdddebd54b,
title = {Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics},
author = {Kirk Scheper and Guido Croon},
editor = {Elio Tuci and Alexandros Giagkos and Myra Wilson and John Hallam},
url = {https://research.tudelft.nl/en/publications/abstraction-as-a-mechanism-to-cross-the-reality-gap-in-evolutiona},
doi = {10.1007/978-3-319-43488-9_25},
isbn = {978-3-319-43487-2},
year = {2016},
date = {2016-08-10},
booktitle = {From Animals to Animats 14},
volume = {9825},
pages = {280–292},
publisher = {Springer},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kevin Hecke; Guido Croon; Daniel Hennes; Timothy P. Setterfield; Alvar Saenz-Otero; Dario Izzo Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments (Proceedings Article) In: Proceedings of the 67th International Astronautical Congress (IAC), Guadalajara, Mexico, 26-30 September 2016, IAF, 2016, (67th International Astronautical Congress, 67th IAC ; Conference date: 26-09-2016 Through 30-09-2016). @inproceedings{a8db1c4b7ab24cd984ae030c7dcb2bcc,
title = {Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments},
author = {Kevin Hecke and Guido Croon and Daniel Hennes and Timothy P. Setterfield and Alvar Saenz-Otero and Dario Izzo},
url = {https://research.tudelft.nl/en/publications/self-supervised-learning-as-an-enabling-technology-for-future-spa},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the 67th International Astronautical Congress (IAC), Guadalajara, Mexico, 26-30 September 2016},
publisher = {IAF},
note = {67th International Astronautical Congress, 67th IAC ; Conference date: 26-09-2016 Through 30-09-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
K. Lamers; Sjoerd Tijmons; Christophe Wagter; Guido Croon Self-supervised monocular distance learning on a lightweight micro air vehicle (Proceedings Article) In: IROS 2016, 2016, ISBN: 978-1-5090-3762-9, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{fd86be3eb80645acba12e447b255df00,
title = {Self-supervised monocular distance learning on a lightweight micro air vehicle},
author = {K. Lamers and Sjoerd Tijmons and Christophe Wagter and Guido Croon},
url = {https://research.tudelft.nl/en/publications/self-supervised-monocular-distance-learning-on-a-lightweight-micr},
doi = {10.1109/IROS.2016.7759284},
isbn = {978-1-5090-3762-9},
year = {2016},
date = {2016-01-01},
booktitle = {IROS 2016},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Torbjörn Cunis; Matej Karasek; Guido Croon Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel (Proceedings Article) In: Proceedings of the International Micro Air Vehicles Conference and Competition 2016, IEEE, United States, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016). @inproceedings{a4359248dd84471bbd36877b06fd137f,
title = {Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel},
author = {Torbjörn Cunis and Matej Karasek and Guido Croon},
url = {https://research.tudelft.nl/en/publications/precision-position-control-of-the-delfly-ii-flapping-wing-micro-a},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the International Micro Air Vehicles Conference and Competition 2016},
publisher = {IEEE},
address = {United States},
note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Matej Karasek; Andries Koopmans; Sophie Armanini; Bart Remes; Guido Croon Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU (Proceedings Article) In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, United States, 2016, ISBN: 978-1-5090-3762-9, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{86fe1a5d6b564ae9ba41244e730860c2,
title = {Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU},
author = {Matej Karasek and Andries Koopmans and Sophie Armanini and Bart Remes and Guido Croon},
url = {https://research.tudelft.nl/en/publications/free-flight-force-estimation-of-a-235-g-flapping-wing-mav-using-a},
doi = {10.1109/IROS.2016.7759729},
isbn = {978-1-5090-3762-9},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
address = {United States},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
SF Armanini; CC Visser; GCHE Croon; M Mulder A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Proceedings Article) In: s.n., (Ed.): Proceedings of the AIAA atmospheric flight mechanics conference, pp. 1–18, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2016, ISBN: 978-1-62410-390-2, (harvest AIAA 2016-1529; AIAA Atmospheric Flight Mechanics Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016). @inproceedings{f0077c91bca54f43867c91c49e347b2f,
title = {A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle},
author = {SF Armanini and CC Visser and GCHE Croon and M Mulder},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/a-time-scale-separation-approach-for-time-varying-model-identific},
doi = {10.2514/6.2016-1529},
isbn = {978-1-62410-390-2},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the AIAA atmospheric flight mechanics conference},
pages = {1–18},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2016-1529; AIAA Atmospheric Flight Mechanics Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kevin Lamers; Sjoerd Tijmons; Christophe De Wagter; Guido de Croon Self-supervised monocular distance learning on a lightweight micro air vehicle (Proceedings Article) In: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pp. 1779–1784, IEEE 2016. @inproceedings{lamers2016self,
title = {Self-supervised monocular distance learning on a lightweight micro air vehicle},
author = {Kevin Lamers and Sjoerd Tijmons and Christophe De Wagter and Guido de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
pages = {1779--1784},
organization = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; J V Caetano; C C de Visser; G C H E de Croon; M Mulder Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches (Proceedings Article) In: AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–15, 2016. @inproceedings{Armanini2016bb,
title = {Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches},
author = {S F Armanini and J V Caetano and C C de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--15},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; C C a de Visser; G C H E de Croon; M Mulder A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Proceedings Article) In: AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–19, 2016. @inproceedings{Armanini2016a,
title = {A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle},
author = {S F Armanini and C C a de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--19},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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?
