2017
|
Masters Theses
|
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}
}
|
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},
tppubtype = {article}
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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},
volume = {39},
number = {3},
pages = {526–541},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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}
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|
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}
}
|
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). @inproceedings{6991222143d34781ab9581aeb26c6ecc,
title = {Characterization of flow field divergence for MAVs vertical control landing},
author = {HW Ho and GCHE Croon},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/characterization-of-flow-field-divergence-for-mavs-vertical-contr},
doi = {10.2514/6.2016-0106},
isbn = {978-1-62410-389-6},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the AIAA guidance, navigation, and control conference},
pages = {1–13},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2016-0106; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{7a0ed83acfea4e1ab7381da489c9d2fe,
title = {Aerodynamic model identification of a clap-and-fling flapping-wing MAV: A comparison between quasi-steady and black-box approaches},
author = {SF Armanini and JV Aguiar Vieira Caetano and CC Visser and GCHE Croon and M Mulder},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/aerodynamic-model-identification-of-a-clap-and-fling-flapping-win},
doi = {10.2514/6.2016-0014},
isbn = {978-1-62410-390-2},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the AIAA atmospheric flight mechanics conference},
pages = {1–15},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2016-0014; AIAA Atmospheric Flight Mechanics Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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. @inproceedings{Karasek2016,
title = {Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU},
author = {Mat{ě}j Karásek and Andries Jan Koopmans and Sophie F Armanini and Bart D W Remes and Guido C H E de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted)},
address = {Daejeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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. @inproceedings{Cunis,
title = {Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel},
author = {Torbjørn Cunis and Mat{ě}j Karásek and Guido C H E de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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. @inproceedings{Scheper2016b,
title = {Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics},
author = {Kirk Y W Scheper and Guido C H E de Croon},
editor = {Elio Tuci and Alexandros Giagkos and Myra Wilson and John Hallam},
url = {http://link.springer.com/10.1007/978-3-319-43488-9},
doi = {10.1007/978-3-319-43488-9_25},
issn = {00237205},
year = {2016},
date = {2016-01-01},
booktitle = {From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016},
pages = {280--292},
publisher = {Springer International Publishing},
address = {Aberystwyth University, Wales, UK},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{e903cda0b43d4e5fadfc3af5a83c96b1,
title = {Distance and velocity estimation using optical flow from a monocular camera},
author = {Hann Woei Ho and Guido Croon and Qiping Chu},
url = {https://research.tudelft.nl/en/publications/distance-and-velocity-estimation-using-optical-flow-from-a-monocu},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the International Micro Air Vehicles Conference and Competition 2016},
pages = {121–128},
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}
}
|
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). @inproceedings{40e76fe5896a41dab675ecdb11f1f991,
title = {Visual Homing for Micro Aerial Vehicles using Scene Familiarity},
author = {Gerald Dalen and Kimberly Mcguire and Guido Croon},
editor = {Zhihong Peng and Feng Lin},
url = {https://research.tudelft.nl/en/publications/visual-homing-for-micro-aerial-vehicles-using-scene-familiarity-2},
year = {2016},
date = {2016-01-01},
booktitle = {International Micro Air Vechicle Competition and Conference 2016},
pages = {307–313},
note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{ff1f13e377e64d0fbfdf0065cf333066,
title = {Adaptive incremental nonlinear dynamic inversion for attitude control of micro aerial vehicles},
author = {EJJ Smeur and QP Chu and GCHE Croon},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/adaptive-incremental-nonlinear-dynamic-inversion-for-attitude-con},
doi = {10.2514/6.2016-1390},
isbn = {978-1-62410-389-6},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the AIAA guidance, navigation, and control conference},
pages = {1–16},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2016-1390; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{2781baceb00f4de2a52abd869a349145,
title = {Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion},
author = {Ewoud Smeur and Guido Croon and Qiping Chu},
url = {https://research.tudelft.nl/en/publications/gust-disturbance-alleviation-with-incremental-nonlinear-dynamic-i},
doi = {10.1109/IROS.2016.7759827},
isbn = {978-1-5090-3763-6},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
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}
}
|
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). @inproceedings{3a72f841156c46e29393ce4798684f9e,
title = {Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones},
author = {Kimberly Mcguire and Guido Croon and Christophe Wagter and Bart Remes and K. Tuyls and H. Kappen},
editor = {A. Okamura},
url = {https://research.tudelft.nl/en/publications/local-histogram-matching-for-efficient-optical-flow-computation-a},
doi = {10.1109/ICRA.2016.7487496},
isbn = {978-1-4673-8027-0},
year = {2016},
date = {2016-01-01},
booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3255–3260},
publisher = {IEEE},
address = {United States},
note = {2016 IEEE International Conference on Robotics and Automation, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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)). @mastersthesis{uuid:ffa1ec41-3930-4dfe-b454-e11c3517a7f4,
title = {Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow},
author = {B. J. Pijnacker Hordijk},
url = {http://resolver.tudelft.nl/uuid:ffa1ec41-3930-4dfe-b454-e11c3517a7f4},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires processing full images on-board, limiting the update rate of divergence measurements, thus the speed of the control loop and the robot. Event-based cameras overcome these limitations by only measuring pixel-level brightness changes at microsecond temporal accuracy, hence providing an efficient mechanism for optical flow estimation. This thesis presents, to the best of our knowledge, the first research integrating event-based optical flow estimation into the control loop of a flying robot. We extend an existing 'local plane fitting' algorithm to obtain an improved and more computationally efficient optical flow estimation method, valid for a wide range of optical flow velocities. This method is validated for real event sequences. In addition, a method for estimating the divergence from event-based optical flow is introduced, which accounts for the aperture problem. The developed algorithms are implemented in a constant divergence landing controller on-board of a quadrotor. Flight tests demonstrate that, using event-based optical flow, accurate divergence estimates can be obtained over a wide range of speeds. This enables the quadrotor to perform very fast landing maneuvers.},
note = {de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires processing full images on-board, limiting the update rate of divergence measurements, thus the speed of the control loop and the robot. Event-based cameras overcome these limitations by only measuring pixel-level brightness changes at microsecond temporal accuracy, hence providing an efficient mechanism for optical flow estimation. This thesis presents, to the best of our knowledge, the first research integrating event-based optical flow estimation into the control loop of a flying robot. We extend an existing 'local plane fitting' algorithm to obtain an improved and more computationally efficient optical flow estimation method, valid for a wide range of optical flow velocities. This method is validated for real event sequences. In addition, a method for estimating the divergence from event-based optical flow is introduced, which accounts for the aperture problem. The developed algorithms are implemented in a constant divergence landing controller on-board of a quadrotor. Flight tests demonstrate that, using event-based optical flow, accurate divergence estimates can be obtained over a wide range of speeds. This enables the quadrotor to perform very fast landing maneuvers. |
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)). @mastersthesis{uuid:8efab9c5-e78b-40ff-ab37-a563366d22f9,
title = {The Exploring DelFly: How to increase the indoor explored area of the DelFly Explorer by means of computationally efficient routing decisions?},
author = {C. R. Fonville},
url = {http://resolver.tudelft.nl/uuid:8efab9c5-e78b-40ff-ab37-a563366d22f9},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Small robots, such as Micro Aerial Vehicles, form an increasingly popular field of interests in research, industry and the consumer market. The autonomous capabilities of these systems keep evolving and one of the main research goals is to reach full autonomy. However, this is often achieved at the cost of growing hardware demands. In this study a computationally light and efficient way to enhance autonomous on-board exploration capabilities for the DelFly Explorer, a 20-gram flapping wing Micro Aerial Vehicle (FWMAV), is presented. Both theory and new insights were combined to design an exploration algorithm for the on-board stereo-vision system. The algorithm primarily consists of a disparity map based decision tree, different exploration phases and computationally light odometry. Computer simulations proved the effectiveness of the algorithm to enable autonomous exploration capabilities for the FWMAV system. Initial flight tests also show that the proposed algorithm increases its exploration capabilities and form a foundation for future research.},
note = {de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Small robots, such as Micro Aerial Vehicles, form an increasingly popular field of interests in research, industry and the consumer market. The autonomous capabilities of these systems keep evolving and one of the main research goals is to reach full autonomy. However, this is often achieved at the cost of growing hardware demands. In this study a computationally light and efficient way to enhance autonomous on-board exploration capabilities for the DelFly Explorer, a 20-gram flapping wing Micro Aerial Vehicle (FWMAV), is presented. Both theory and new insights were combined to design an exploration algorithm for the on-board stereo-vision system. The algorithm primarily consists of a disparity map based decision tree, different exploration phases and computationally light odometry. Computer simulations proved the effectiveness of the algorithm to enable autonomous exploration capabilities for the FWMAV system. Initial flight tests also show that the proposed algorithm increases its exploration capabilities and form a foundation for future research. |
B J Pijnacker Hordijk Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow (Masters Thesis) Delft University of Technology, Delft, NL, 2016. @mastersthesis{Pijnacker2016,
title = {Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow},
author = {B J Pijnacker Hordijk},
url = {http://resolver.tudelft.nl/uuid:ffa1ec41-3930-4dfe-b454-e11c3517a7f4},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
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?
