Publications

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

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

Nature Machine Intelligence Paper

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

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

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

Science Robotics Paper

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

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

 

Delfly Book

 

 

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

 

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

 

Science paper

 

 

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

 

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

 

 

 

 

 

All publications

691 entries « 11 of 14 »

2016

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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.

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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.

(BibTeX)

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.

(BibTeX)

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.

(BibTeX)

HW Ho; GCHE Croon

Characterization of flow field divergence for MAVs vertical control landing (Proceedings Article)

In: s.n., (Ed.): Proceedings of the AIAA guidance, navigation, and control conference, pp. 1–13, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2016, ISBN: 978-1-62410-389-6, (harvest AIAA 2016-0106; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016).

(Links | BibTeX)

SF Armanini; JV Aguiar Vieira Caetano; CC Visser; GCHE 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: s.n., (Ed.): Proceedings of the AIAA atmospheric flight mechanics conference, pp. 1–15, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2016, ISBN: 978-1-62410-390-2, (harvest AIAA 2016-0014; AIAA Atmospheric Flight Mechanics Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016).

(Links | BibTeX)

Matěj Karásek; Andries Jan Koopmans; Sophie F Armanini; Bart D W Remes; Guido C H E de Croon

Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU (Proceedings Article)

In: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted), Daejeon, Korea, 2016.

(BibTeX)

Torbjørn Cunis; Matěj Karásek; Guido C H E de Croon

Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel (Proceedings Article)

In: The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21, 2016.

(BibTeX)

Kirk Y W Scheper; Guido C H E de 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: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, pp. 280–292, Springer International Publishing, Aberystwyth University, Wales, UK, 2016, ISSN: 00237205.

(Links | BibTeX)

Hann Woei Ho; Guido Croon; Qiping Chu

Distance and velocity estimation using optical flow from a monocular camera (Proceedings Article)

In: Proceedings of the International Micro Air Vehicles Conference and Competition 2016, pp. 121–128, IEEE, United States, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016).

(Links | BibTeX)

Gerald Dalen; Kimberly Mcguire; Guido Croon

Visual Homing for Micro Aerial Vehicles using Scene Familiarity (Proceedings Article)

In: Peng, Zhihong; Lin, Feng (Ed.): International Micro Air Vechicle Competition and Conference 2016, pp. 307–313, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016).

(Links | BibTeX)

EJJ Smeur; QP Chu; GCHE Croon

Adaptive incremental nonlinear dynamic inversion for attitude control of micro aerial vehicles (Proceedings Article)

In: s.n., (Ed.): Proceedings of the AIAA guidance, navigation, and control conference, pp. 1–16, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2016, ISBN: 978-1-62410-389-6, (harvest AIAA 2016-1390; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016).

(Links | BibTeX)

Ewoud Smeur; Guido Croon; Qiping Chu

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion (Proceedings Article)

In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, ISBN: 978-1-5090-3763-6, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016).

(Links | BibTeX)

Kimberly Mcguire; Guido Croon; Christophe Wagter; Bart Remes; K. Tuyls; H. Kappen

Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones (Proceedings Article)

In: Okamura, A. (Ed.): 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3255–3260, IEEE, United States, 2016, ISBN: 978-1-4673-8027-0, (2016 IEEE International Conference on Robotics and Automation, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016).

(Links | BibTeX)

Masters Theses

B. J. Pijnacker Hordijk

Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow (Masters Thesis)

Delft University of Technology, 2016, (de Croon, G.C.H.E. (mentor)).

(Abstract | Links | BibTeX)

C. R. Fonville

The Exploring DelFly: How to increase the indoor explored area of the DelFly Explorer by means of computationally efficient routing decisions? (Masters Thesis)

Delft University of Technology, 2016, (de Croon, G.C.H.E. (mentor)).

(Abstract | Links | BibTeX)

B J Pijnacker Hordijk

Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow (Masters Thesis)

Delft University of Technology, Delft, NL, 2016.

(Links | BibTeX)

E. S. Van der Sman

Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-Wing Micro Air Vehicles (Masters Thesis)

Delft University of Technology, 2016, (Chu, Q.P. (mentor); Remes, B. (mentor); Smeur, E.J.J. (mentor)).

(Abstract | Links | BibTeX)

K. Lamers

Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle (Masters Thesis)

Delft University of Technology, 2016, (Hoekstra, J.M. (mentor); De Croon, G.C.H.E. (mentor); Tijmons, S. (mentor); Guo, J. (mentor)).

(Abstract | Links | BibTeX)

C R Fonville

The Exploring DelFly: How to increase the indoor explored area of the DelFly Explorer by means of computationally efficient routing decisions? (Masters Thesis)

Delft University of Technology, Delft, NL, 2016.

(Links | BibTeX)

M. W. M. Kuijpers

The influence of a bottom camera in indoor ground-segmentation based obstacle avoiding performance for MAVs (Masters Thesis)

Delft University of Technology, 2016, (de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor)).

(Links | BibTeX)

K Lamers

Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle (Masters Thesis)

Delft University of Technology, Delft, NL, 2016.

(Links | BibTeX)

D. C. Höppener

Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter (Masters Thesis)

Delft University of Technology, 2016, (de Wagter, C. (mentor)).

(Abstract | Links | BibTeX)

R. M. J. Janssen

Attitude control- and stabilisation moment generation of the DelFly using Wing Tension Modulation (Masters Thesis)

Delft University of Technology, 2016, (Karasek, M. (mentor)).

(Links | BibTeX)

T. Duro

Tracking and Following a Moving Person Onboard a Small Pocket Drone (Masters Thesis)

Delft University of Technology, 2016, (De Croon, G. (mentor); De Wagter, C (mentor); Meertens, R. (mentor)).

(Abstract | Links | BibTeX)

J. Paquim

Learning Depth from Single Monocular Images Using Stereo Supervisory Input (Masters Thesis)

Delft University of Technology, 2016, (de Croon, G.C.H.E. (mentor)).

(Abstract | Links | BibTeX)

P. Goyal

Mission Planning for Sensor Network Deployment using a Fleet of Drones (Masters Thesis)

Delft University of Technology, 2016, (Hoekstra, J.M. (mentor); Blacquiere, G. (mentor); de Croon, G.C.H.E. (mentor); Smeur, E.J.J. (mentor)).

(Abstract | Links | BibTeX)

J. P. Rocha Silva

Quadrotor Thrust Vectoring Control with Time Optimal Trajectory Planning in Constant Wind Fields (Masters Thesis)

Delft University of Technology, 2016, (de Croon, G.C.H.E. (mentor)).

(Abstract | Links | BibTeX)

M. Coppola

Relative Localization for Collision Avoidance in Micro Air Vehicle Teams (Masters Thesis)

Delft University of Technology, 2016, (De Croon, G. (mentor)).

(Abstract | Links | BibTeX)

B. J. M. M. Slinger

Attitude Control of a Small Helicopter UAV using Incremental Nonlinear Dynamic Inversion (Masters Thesis)

Delft University of Technology, 2016, (Remes, B.D.W. (mentor)).

(Abstract | Links | BibTeX)

G. J. J. Van Dalen

Visual Homing for Micro Aerial Vehicles using Scene Familiarity (Masters Thesis)

Delft University of Technology, 2016, (De Croon, G.C.H.E. (mentor)).

(Abstract | Links | BibTeX)

C. W. M. Nous

Performance Evaluation in Obstacle Avoidance (Masters Thesis)

Delft University of Technology, 2016, (De Croon, G.C.H.E. (mentor)).

(Abstract | Links | BibTeX)

Y. S. Janssen

Reinforcement Learning Policy Approximation by Behavior Trees: using Genetic Algoritms (Masters Thesis)

Delft University of Technology, 2016, (Scheper, K.Y.W. (mentor)).

(Links | BibTeX)

Miscellaneous

Marija Popovic; Gregory Hitz; Juan Nieto; Inkyu Sa; Roland Siegwart; Enric Galceran

Online Informative Path Planning for Active Classification Using UAVs (Miscellaneous)

2016.

(Links | BibTeX)

Marija Popovic; Gregory Hitz; Juan Nieto; Roland Siegwart; Enric Galceran

Online Informative Path Planning for Active Classification on UAVs (Miscellaneous)

2016.

(Links | BibTeX)

Kevin Hecke; Guido Croon; Laurens Maaten; Daniel Hennes; Dario Izzo

Persistent self-supervised learning principle: from stereo to monocular vision for obstacle avoidance (Miscellaneous)

2016.

(Links | BibTeX)

Mario Coppola; Kimberly McGuire; Kirk Y. W. Scheper; Guido C. H. E. Croon

On-board Communication-based Relative Localization for Collision Avoidance in Micro Air Vehicle teams (Miscellaneous)

2016.

(Links | BibTeX)

PhD Theses

Joao Aguiar Vieira Caetano

Model identification of a flapping wing micro aerial vehicle (PhD Thesis)

Delft University of Technology, 2016.

(Links | BibTeX)

2015

Journal Articles

JV Aguiar Vieira Caetano; MB Weehuizen; CC Visser; GCHE Croon; M Mulder

Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle (Journal Article)

In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 38, no. 12, pp. 2257–2269, 2015, ISSN: 0731-5090, (harvest).

(Links | BibTeX)

JA Koopmans; S Tijmons; C Wagter; GCHE Croon

Passively stable flapping flight from hover to fast forward through shift in wing position (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 7, no. 4, pp. 407–418, 2015, ISSN: 1756-8293, (harvest).

(Links | BibTeX)

JV Aguiar Vieira Caetano; M Percin; BW Oudheusden; BDW Remes; C Wagter; GCHE Croon; CC Visser

Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: Free flight versus wind-tunnel experimental methods (Journal Article)

In: Bioinspiration & Biomimetics: learning from nature, vol. 10, no. 5, pp. 1–22, 2015, ISSN: 1748-3182, (harvest).

(Links | BibTeX)

GCHE Croon; D Alazard; D Izzo

Controlling spacecraft landings with constantly and exponentially decreasing time-to-contact (Journal Article)

In: IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no. 2, pp. 1241–1252, 2015, ISSN: 0018-9251.

(Links | BibTeX)

691 entries « 11 of 14 »