2016
|
Masters Theses
|
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)). @mastersthesis{uuid:b76bd35d-9d56-472e-8ff8-35fd453b6a49,
title = {Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-Wing Micro Air Vehicles},
author = {E. S. Van der Sman},
url = {http://resolver.tudelft.nl/uuid:b76bd35d-9d56-472e-8ff8-35fd453b6a49},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles. Two methods have been identified to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion and phase-advanced pitch probes. Incremental nonlinear dynamic inversion uses the angular acceleration measurements to counteract disturbances. Multihole pressure probes measure the incoming flow angle and velocity ahead of the wing in order to react to gusts before an inertial response has occurred. The performance of incremental nonlinear dynamic inversion is compared to a traditional proportional integral derivative controller with and without the multihole pressure probes. The attitude controllers are tested by performing autonomous wind tunnel flights and stability augmented outdoor flights. This thesis shows that nonlinear dynamic inversion improves the disturbance rejection performance of fixed-wing MAVs compared to traditional proportional integral derivative controllers.},
note = {Chu, Q.P. (mentor); Remes, B. (mentor); Smeur, E.J.J. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles. Two methods have been identified to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion and phase-advanced pitch probes. Incremental nonlinear dynamic inversion uses the angular acceleration measurements to counteract disturbances. Multihole pressure probes measure the incoming flow angle and velocity ahead of the wing in order to react to gusts before an inertial response has occurred. The performance of incremental nonlinear dynamic inversion is compared to a traditional proportional integral derivative controller with and without the multihole pressure probes. The attitude controllers are tested by performing autonomous wind tunnel flights and stability augmented outdoor flights. This thesis shows that nonlinear dynamic inversion improves the disturbance rejection performance of fixed-wing MAVs compared to traditional proportional integral derivative controllers. |
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)). @mastersthesis{uuid:55f9ab7a-2651-4a90-93a0-a8c9ddc7c6a9,
title = {Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle},
author = {K. Lamers},
url = {http://resolver.tudelft.nl/uuid:55f9ab7a-2651-4a90-93a0-a8c9ddc7c6a9},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This thesis presents all the work performed in developing a novel method for estimating distances on a flapping wing micro air vehicle using a monocular camera. These distance estimates are useful for providing a way to avoid collisions while flying indoors. The proposed method is based on a self-supervised learning algorithm that uses a short range impact detector to learn camera based long range distance estimates. The first part of this thesis contains an extended version of the paper on this topic as was submitted to the 2016 International Conference on Intelligent Robots and Systems (IROS). The second part contains the preliminary thesis that was preparatory to the final work and gives an in-depth overview of the state-of-the-art of different aspects of the problem as found in literature.},
note = {Hoekstra, J.M. (mentor); De Croon, G.C.H.E. (mentor); Tijmons, S. (mentor); Guo, J. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This thesis presents all the work performed in developing a novel method for estimating distances on a flapping wing micro air vehicle using a monocular camera. These distance estimates are useful for providing a way to avoid collisions while flying indoors. The proposed method is based on a self-supervised learning algorithm that uses a short range impact detector to learn camera based long range distance estimates. The first part of this thesis contains an extended version of the paper on this topic as was submitted to the 2016 International Conference on Intelligent Robots and Systems (IROS). The second part contains the preliminary thesis that was preparatory to the final work and gives an in-depth overview of the state-of-the-art of different aspects of the problem as found in literature. |
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. @mastersthesis{Fonville2016,
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},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
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)). @mastersthesis{uuid:424ead9b-50be-4e80-94a9-d041a1418dd3,
title = {The influence of a bottom camera in indoor ground-segmentation based obstacle avoiding performance for MAVs},
author = {M. W. M. Kuijpers},
url = {http://resolver.tudelft.nl/uuid:424ead9b-50be-4e80-94a9-d041a1418dd3},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
note = {de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
K Lamers Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle (Masters Thesis) Delft University of Technology, Delft, NL, 2016. @mastersthesis{Lamers2016b,
title = {Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle},
author = {K Lamers},
url = {http://resolver.tudelft.nl/uuid:55f9ab7a-2651-4a90-93a0-a8c9ddc7c6a9},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
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)). @mastersthesis{uuid:3704b044-b9bf-454a-8678-0d140bd1d308,
title = {Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter},
author = {D. C. Höppener},
url = {http://resolver.tudelft.nl/uuid:3704b044-b9bf-454a-8678-0d140bd1d308},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Incremental Nonlinear Dynamic Inversion provides a high performance attitude controller for multi-rotor Micro Aerial Vehicles by providing very good disturbance rejection capabilities. Flights conducted with a quadcopter revealed undesired pitch and rolling motions which occurred simultaneously with actuator saturation for instantaneous yaw angle reference tracking commands. Constrained control allocation methods can increase the system's performance by providing an effective strategy to prioritize control objectives, and redistribute control effort accordingly. Weighted Least Squares control allocation makes the constrained control allocation problem a quadratic optimization problem. An iterative solver based on the computationally efficient active-set algorithm finds the optimal control distribution for a weighted control objective. In this paper the Weighted Least Squares control allocator is used to overcome two challenges 1) increase performance by applying prioritization between control objectives and redistribute control effort accordingly, accounting for the actuator limits 2) enable flight when flying with severely compromised actuator(s). Real-world flight experiments are performed and show a significant increase in performance for high load yaw maneuvers, and enabled a quadcopter to perform controlled flight with a severely compromised actuator},
note = {de Wagter, C. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Incremental Nonlinear Dynamic Inversion provides a high performance attitude controller for multi-rotor Micro Aerial Vehicles by providing very good disturbance rejection capabilities. Flights conducted with a quadcopter revealed undesired pitch and rolling motions which occurred simultaneously with actuator saturation for instantaneous yaw angle reference tracking commands. Constrained control allocation methods can increase the system's performance by providing an effective strategy to prioritize control objectives, and redistribute control effort accordingly. Weighted Least Squares control allocation makes the constrained control allocation problem a quadratic optimization problem. An iterative solver based on the computationally efficient active-set algorithm finds the optimal control distribution for a weighted control objective. In this paper the Weighted Least Squares control allocator is used to overcome two challenges 1) increase performance by applying prioritization between control objectives and redistribute control effort accordingly, accounting for the actuator limits 2) enable flight when flying with severely compromised actuator(s). Real-world flight experiments are performed and show a significant increase in performance for high load yaw maneuvers, and enabled a quadcopter to perform controlled flight with a severely compromised actuator |
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)). @mastersthesis{uuid:382dec56-7789-40df-af28-f2e61de99fad,
title = {Attitude control- and stabilisation moment generation of the DelFly using Wing Tension Modulation},
author = {R. M. J. Janssen},
url = {http://resolver.tudelft.nl/uuid:382dec56-7789-40df-af28-f2e61de99fad},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
note = {Karasek, M. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
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)). @mastersthesis{uuid:58a4c285-e3b6-4bf0-b885-2908077e9b02,
title = {Tracking and Following a Moving Person Onboard a Small Pocket Drone},
author = {T. Duro},
url = {http://resolver.tudelft.nl/uuid:58a4c285-e3b6-4bf0-b885-2908077e9b02},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This paper presents a vision based strategy, designed to work fully onboard a small pocket drone, for autonomously tracking and following a person. Flying a drone is not an easy task, usually requiring a trained pilot, with the presented system it is possible to use a drone for filming or taking pictures from previously inaccessible places without the need for a person controlling the aircraft. Such framework is comprised by two main components, a tracker and a control system. The tracker has the function of estimating the position of the person that is being followed, while the control system gets the drone near that person. Limited by payload weight, power consumption and processing power the system results in a delicate balance between these constraints. The main contributions of this paper are the comparison between two state-of-the-art visual trackers running on paparazzi, Struck and KCF, as well as the control system that uses the tracker’s output location to perform the person following task. Then a new tracker is developed to be as computationally light as possible so that it can run onboard a small pocket drone, based on HOG feature extraction, it uses logistic regression to train a detector on the appearance of a person.},
note = {De Croon, G. (mentor); De Wagter, C (mentor); Meertens, R. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This paper presents a vision based strategy, designed to work fully onboard a small pocket drone, for autonomously tracking and following a person. Flying a drone is not an easy task, usually requiring a trained pilot, with the presented system it is possible to use a drone for filming or taking pictures from previously inaccessible places without the need for a person controlling the aircraft. Such framework is comprised by two main components, a tracker and a control system. The tracker has the function of estimating the position of the person that is being followed, while the control system gets the drone near that person. Limited by payload weight, power consumption and processing power the system results in a delicate balance between these constraints. The main contributions of this paper are the comparison between two state-of-the-art visual trackers running on paparazzi, Struck and KCF, as well as the control system that uses the tracker’s output location to perform the person following task. Then a new tracker is developed to be as computationally light as possible so that it can run onboard a small pocket drone, based on HOG feature extraction, it uses logistic regression to train a detector on the appearance of a person. |
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)). @mastersthesis{uuid:4b4c4e4b-5e45-4166-bd2c-f35a1e495c6a,
title = {Learning Depth from Single Monocular Images Using Stereo Supervisory Input},
author = {J. Paquim},
url = {http://resolver.tudelft.nl/uuid:4b4c4e4b-5e45-4166-bd2c-f35a1e495c6a},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Stereo vision systems are often employed in robotics as a means for obstacle avoidance and navigation. These systems have inherent depth-sensing limitations, with significant problems in occluded and untextured regions, leading to sparse depth maps. We propose using a monocular depth estimation algorithm to tackle these problems, in a Self-Supervised Learning (SSL) framework. The algorithm learns online from the sparse depth map generated by a stereo vision system, producing a dense depth map. The algorithm is designed to be computationally efficient, for implementation onboard resource-constrained mobile robots and unmanned aerial vehicles. Within that context, it can be used to provide both reliability against a stereo camera failure, as well as more accurate depth perception, by filling in missing depth information, in occluded and low texture regions. This in turn allows the use of more efficient sparse stereo vision algorithms. We test the algorithm offline on a new, high resolution, stereo dataset, of scenes shot in indoor environments, and processed using both sparse and dense stereo matching algorithms. It is shown that the algorithm’s performance doesn’t deteriorate, and in fact sometimes improves, when learning only from sparse, high confidence regions rather than from the computationally expensive, dense, occlusion-filled and highly post-processed dense depth maps. This makes the approach very promising for self- supervised learning on autonomous robots.},
note = {de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Stereo vision systems are often employed in robotics as a means for obstacle avoidance and navigation. These systems have inherent depth-sensing limitations, with significant problems in occluded and untextured regions, leading to sparse depth maps. We propose using a monocular depth estimation algorithm to tackle these problems, in a Self-Supervised Learning (SSL) framework. The algorithm learns online from the sparse depth map generated by a stereo vision system, producing a dense depth map. The algorithm is designed to be computationally efficient, for implementation onboard resource-constrained mobile robots and unmanned aerial vehicles. Within that context, it can be used to provide both reliability against a stereo camera failure, as well as more accurate depth perception, by filling in missing depth information, in occluded and low texture regions. This in turn allows the use of more efficient sparse stereo vision algorithms. We test the algorithm offline on a new, high resolution, stereo dataset, of scenes shot in indoor environments, and processed using both sparse and dense stereo matching algorithms. It is shown that the algorithm’s performance doesn’t deteriorate, and in fact sometimes improves, when learning only from sparse, high confidence regions rather than from the computationally expensive, dense, occlusion-filled and highly post-processed dense depth maps. This makes the approach very promising for self- supervised learning on autonomous robots. |
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)). @mastersthesis{uuid:e5604e9a-c241-4236-83dd-5fc823e7e284,
title = {Mission Planning for Sensor Network Deployment using a Fleet of Drones},
author = {P. Goyal},
url = {http://resolver.tudelft.nl/uuid:e5604e9a-c241-4236-83dd-5fc823e7e284},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Various methods for route planning of on-road vehicles to serve transportation requests have been developed in the literature in order to reduce transportation and operational costs. The applicability and thus development of these methods is primarily motivated by the field of application. This article deals with the mission planning for a fleet of drones to deploy sensors in a network. In particular, they are conceived to complete the task of delivering geophones in the seismic surveys. Unlike conventional on-road vehicles used for delivery purposes, every drone in the fleet is constrained to make a frequent return trip back to the depot to pick-up a new payload and restore its battery. A centralized planner is proposed in this article due to this constraint. The problem of planning is decomposed into two phases: route formation and route scheduling. The first phase is handled using the extensive formulation of Multi-Trip Vehicle Routing Problem (MTVRP) aiming at minimizing the overall journey time. A heuristic method is also proposed for this phase which provides near-optimal solutions in a computationally efficient manner. The second phase of the planning algorithm deals with the unaddressed problem of depot congestion arising due to the frequent visits of each drone to the depot. This problem is expressed in the form of a Mixed-Integer Linear Program (MILP) that can be solved using available software. This phase is computationally intensive and comparatively slow which restricts the usage of this mission planner in the re-planning phase to the cases involving longer journeys with limited number of routes. The results from a flight-test are also presented in order to demonstrate the mission planner.},
note = {Hoekstra, J.M. (mentor); Blacquiere, G. (mentor); de Croon, G.C.H.E. (mentor); Smeur, E.J.J. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Various methods for route planning of on-road vehicles to serve transportation requests have been developed in the literature in order to reduce transportation and operational costs. The applicability and thus development of these methods is primarily motivated by the field of application. This article deals with the mission planning for a fleet of drones to deploy sensors in a network. In particular, they are conceived to complete the task of delivering geophones in the seismic surveys. Unlike conventional on-road vehicles used for delivery purposes, every drone in the fleet is constrained to make a frequent return trip back to the depot to pick-up a new payload and restore its battery. A centralized planner is proposed in this article due to this constraint. The problem of planning is decomposed into two phases: route formation and route scheduling. The first phase is handled using the extensive formulation of Multi-Trip Vehicle Routing Problem (MTVRP) aiming at minimizing the overall journey time. A heuristic method is also proposed for this phase which provides near-optimal solutions in a computationally efficient manner. The second phase of the planning algorithm deals with the unaddressed problem of depot congestion arising due to the frequent visits of each drone to the depot. This problem is expressed in the form of a Mixed-Integer Linear Program (MILP) that can be solved using available software. This phase is computationally intensive and comparatively slow which restricts the usage of this mission planner in the re-planning phase to the cases involving longer journeys with limited number of routes. The results from a flight-test are also presented in order to demonstrate the mission planner. |
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)). @mastersthesis{uuid:e714d5b9-236d-4509-bc80-79035c0f4725,
title = {Quadrotor Thrust Vectoring Control with Time Optimal Trajectory Planning in Constant Wind Fields},
author = {J. P. Rocha Silva},
url = {http://resolver.tudelft.nl/uuid:e714d5b9-236d-4509-bc80-79035c0f4725},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This work proposes a control strategy to follow time optimal trajectories planned to visit a given set of waypoints in windy conditions. The aerodynamic effects of quadrotors are investigated, with emphasis on blade flapping, induced and parasitic drag. An extended method to identify all the aerodynamic coefficients is developed, and their influence on the performance is analyzed. A computationally efficient three steps approach is suggested to optimize the trajectory, by minimizing aerodynamic drag and jerk while still guaranteeing near optimal results. The derived smooth trajectory is compared with standard discrete point to point followed by low-pass filtering trajectories, showing energetic improvements in thrust and reductions in Euler angles aggressiveness. By exploiting the non-linear aerodynamic effects and using a priori trajectory information, a thrust vectoring controller is designed and compared with a standard PID controller, showing an increase in performance by reducing the tracking delay and extending the flight envelope.},
note = {de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This work proposes a control strategy to follow time optimal trajectories planned to visit a given set of waypoints in windy conditions. The aerodynamic effects of quadrotors are investigated, with emphasis on blade flapping, induced and parasitic drag. An extended method to identify all the aerodynamic coefficients is developed, and their influence on the performance is analyzed. A computationally efficient three steps approach is suggested to optimize the trajectory, by minimizing aerodynamic drag and jerk while still guaranteeing near optimal results. The derived smooth trajectory is compared with standard discrete point to point followed by low-pass filtering trajectories, showing energetic improvements in thrust and reductions in Euler angles aggressiveness. By exploiting the non-linear aerodynamic effects and using a priori trajectory information, a thrust vectoring controller is designed and compared with a standard PID controller, showing an increase in performance by reducing the tracking delay and extending the flight envelope. |
M. Coppola Relative Localization for Collision Avoidance in Micro Air Vehicle Teams (Masters Thesis) Delft University of Technology, 2016, (De Croon, G. (mentor)). @mastersthesis{uuid:8145032a-9b1c-48c1-bf46-6f9d7405e5ef,
title = {Relative Localization for Collision Avoidance in Micro Air Vehicle Teams},
author = {M. Coppola},
url = {http://resolver.tudelft.nl/uuid:8145032a-9b1c-48c1-bf46-6f9d7405e5ef},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {A current limitation of using Micro Air Vehicles in teams is the high risk of collisions between members. Knowledge of relative location is needed in order to perform evasive maneuvers from such collisions. We propose an on-board Bluetooth-based relative localization scheme. Bluetooth is a light-weight and energy efficient communication technology that is readily available on even the smallest Micro Air Vehicle units. In this work, it is exploited for communication between team members to exchange on-board states (velocity, height, and orientation), and the strength of the communication signal is used to infer relative range. The data is fused on-board by each Micro Air Vehicle to obtain a relative estimate of the location and motion of all other team members. Furthermore, a collision avoidance controller is proposed based on collision cones. It is designed to deal with the expected performance of the localization scheme by adapting the collision cones during flight and enforcing a clock-wise evasion maneuver. The system was tested with a team of AR-Drones 2.0 flying in a 4m×4m arena. The task requested the AR-Drones to repeatedly fly from wall to wall whilst passing through the center of the arena, hence making collisions highly likely. The system showed promising results. When using two AR-Drones and off-board velocity/orientation estimates, the drones are able to fly around the arena and avoid each other for the entire flight time as permitted by the battery. With three AR-Drones under the same conditions, flight time to collision was 3 minutes. With two AR-Drones flying with on-board velocity estimation, the time to collision was approximately 3 minutes due to the disturbances in velocity estimates. Simulation results show that significantly better results can be expected with smaller units.},
note = {De Croon, G. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
A current limitation of using Micro Air Vehicles in teams is the high risk of collisions between members. Knowledge of relative location is needed in order to perform evasive maneuvers from such collisions. We propose an on-board Bluetooth-based relative localization scheme. Bluetooth is a light-weight and energy efficient communication technology that is readily available on even the smallest Micro Air Vehicle units. In this work, it is exploited for communication between team members to exchange on-board states (velocity, height, and orientation), and the strength of the communication signal is used to infer relative range. The data is fused on-board by each Micro Air Vehicle to obtain a relative estimate of the location and motion of all other team members. Furthermore, a collision avoidance controller is proposed based on collision cones. It is designed to deal with the expected performance of the localization scheme by adapting the collision cones during flight and enforcing a clock-wise evasion maneuver. The system was tested with a team of AR-Drones 2.0 flying in a 4m×4m arena. The task requested the AR-Drones to repeatedly fly from wall to wall whilst passing through the center of the arena, hence making collisions highly likely. The system showed promising results. When using two AR-Drones and off-board velocity/orientation estimates, the drones are able to fly around the arena and avoid each other for the entire flight time as permitted by the battery. With three AR-Drones under the same conditions, flight time to collision was 3 minutes. With two AR-Drones flying with on-board velocity estimation, the time to collision was approximately 3 minutes due to the disturbances in velocity estimates. Simulation results show that significantly better results can be expected with smaller units. |
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)). @mastersthesis{uuid:9eba1543-6f55-4708-9d68-09446a95d6d4,
title = {Attitude Control of a Small Helicopter UAV using Incremental Nonlinear Dynamic Inversion},
author = {B. J. M. M. Slinger},
url = {http://resolver.tudelft.nl/uuid:9eba1543-6f55-4708-9d68-09446a95d6d4},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This paper presents an attitude controller for a small helicopter Unmanned Aerial Vehicle (UAV) based on Incremental Nonlinear Dynamic Inversion (INDI). INDI is a sensor-based control method which responds quickly to the commanded input, but also to disturbances. While previous implementations of INDI used a control effectiveness matrix describing effects on rotational accelerations, the implementation presented in this paper uses rotational rates. This is possible with small hingeless-rotor helicopters since the rotational rates are achieved almost immediately, but also the transient is taken into account. By doing so, the matrix contains only constants and the control structure is much simpler. The proposed controller is implemented on a small helicopter which weighs less than 50 grams. The performance of the controller is demonstrated with step responses on roll and heading angles. Also disturbance rejection capabilities are demonstrated. Finally, the controller is deliberately configured incorrectly with wrong control effectiveness and actuator model parameters. A theoretical derivation is provided to predict the effect of incorrect parameters. With experiments, it is demonstrated that the helicopter can be stabilized over a wide range of incorrect values. It is concluded that the demonstrated controller is a suitable choice for small autonomous helicopters.},
note = {Remes, B.D.W. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This paper presents an attitude controller for a small helicopter Unmanned Aerial Vehicle (UAV) based on Incremental Nonlinear Dynamic Inversion (INDI). INDI is a sensor-based control method which responds quickly to the commanded input, but also to disturbances. While previous implementations of INDI used a control effectiveness matrix describing effects on rotational accelerations, the implementation presented in this paper uses rotational rates. This is possible with small hingeless-rotor helicopters since the rotational rates are achieved almost immediately, but also the transient is taken into account. By doing so, the matrix contains only constants and the control structure is much simpler. The proposed controller is implemented on a small helicopter which weighs less than 50 grams. The performance of the controller is demonstrated with step responses on roll and heading angles. Also disturbance rejection capabilities are demonstrated. Finally, the controller is deliberately configured incorrectly with wrong control effectiveness and actuator model parameters. A theoretical derivation is provided to predict the effect of incorrect parameters. With experiments, it is demonstrated that the helicopter can be stabilized over a wide range of incorrect values. It is concluded that the demonstrated controller is a suitable choice for small autonomous helicopters. |
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)). @mastersthesis{uuid:f72c5d11-d959-4778-831d-2abe07945398,
title = {Visual Homing for Micro Aerial Vehicles using Scene Familiarity},
author = {G. J. J. Van Dalen},
url = {http://resolver.tudelft.nl/uuid:f72c5d11-d959-4778-831d-2abe07945398},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Autonomous navigation is a major challenge in the development of MAVs. When an algorithm has to be efficient, insect intelligence can be a source of inspiration. An elementary navigation task is homing, which means autonomously returning to the initial location. A promising approach makes use of visual familiarity of a route to determine reference headings during homing. In this thesis an existing biological proof of concept based on desert ants is transferred to MAVs. Vision-in-the-loop experiments in different environments are performed, to investigate the viability of scene familiarity for visual navigation. Trained images are used to determine which control actions to take during homing. To determine familiarity, either a database of stored images is kept or an artificial neural network is used. Different image representations are compared in multiple simulated environments. The use of textons for determining familiarity gives the best performance, but HSV color histograms also perform well and are very efficient. It is concluded that to make this method competitive with other visual navigation approaches, route familiarity should be combined with other methods to improve robustness.},
note = {De Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Autonomous navigation is a major challenge in the development of MAVs. When an algorithm has to be efficient, insect intelligence can be a source of inspiration. An elementary navigation task is homing, which means autonomously returning to the initial location. A promising approach makes use of visual familiarity of a route to determine reference headings during homing. In this thesis an existing biological proof of concept based on desert ants is transferred to MAVs. Vision-in-the-loop experiments in different environments are performed, to investigate the viability of scene familiarity for visual navigation. Trained images are used to determine which control actions to take during homing. To determine familiarity, either a database of stored images is kept or an artificial neural network is used. Different image representations are compared in multiple simulated environments. The use of textons for determining familiarity gives the best performance, but HSV color histograms also perform well and are very efficient. It is concluded that to make this method competitive with other visual navigation approaches, route familiarity should be combined with other methods to improve robustness. |
C. W. M. Nous Performance Evaluation in Obstacle Avoidance (Masters Thesis) Delft University of Technology, 2016, (De Croon, G.C.H.E. (mentor)). @mastersthesis{uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb,
title = {Performance Evaluation in Obstacle Avoidance},
author = {C. W. M. Nous},
url = {http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic applications. Such an evaluation method is needed for comparing different methods, but also to determine the operational limits of autonomous systems. This work proposes an evaluation framework which can find such limits. The framework comprises two sets of tests: detection tests and avoidance tests. For each set, environment and performance metrics need to be defined. For detection tests such metrics are well known. For avoidance tests however such metrics are not readily available. Therefore a new set of metrics is proposed. The framework is applied to a UAV that uses stereo vision to detect obstacles and three different algorithms to calculate the avoidance manoeuvre.},
note = {De Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic applications. Such an evaluation method is needed for comparing different methods, but also to determine the operational limits of autonomous systems. This work proposes an evaluation framework which can find such limits. The framework comprises two sets of tests: detection tests and avoidance tests. For each set, environment and performance metrics need to be defined. For detection tests such metrics are well known. For avoidance tests however such metrics are not readily available. Therefore a new set of metrics is proposed. The framework is applied to a UAV that uses stereo vision to detect obstacles and three different algorithms to calculate the avoidance manoeuvre. |
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)). @mastersthesis{uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777,
title = {Reinforcement Learning Policy Approximation by Behavior Trees: using Genetic Algoritms},
author = {Y. S. Janssen},
url = {http://resolver.tudelft.nl/uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
note = {Scheper, K.Y.W. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
Miscellaneous
|
Marija Popovic; Gregory Hitz; Juan Nieto; Inkyu Sa; Roland Siegwart; Enric Galceran Online Informative Path Planning for Active Classification Using UAVs (Miscellaneous) 2016. @misc{1609.08446,
title = {Online Informative Path Planning for Active Classification Using UAVs},
author = {Marija Popovic and Gregory Hitz and Juan Nieto and Inkyu Sa and Roland Siegwart and Enric Galceran},
url = {https://arxiv.org/abs/1609.08446},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Marija Popovic; Gregory Hitz; Juan Nieto; Roland Siegwart; Enric Galceran Online Informative Path Planning for Active Classification on UAVs (Miscellaneous) 2016. @misc{1606.08164,
title = {Online Informative Path Planning for Active Classification on UAVs},
author = {Marija Popovic and Gregory Hitz and Juan Nieto and Roland Siegwart and Enric Galceran},
url = {https://arxiv.org/abs/1606.08164},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
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. @misc{1603.08047,
title = {Persistent self-supervised learning principle: from stereo to monocular vision for obstacle avoidance},
author = {Kevin Hecke and Guido Croon and Laurens Maaten and Daniel Hennes and Dario Izzo},
url = {https://arxiv.org/abs/1603.08047},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
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. @misc{1609.08811,
title = {On-board Communication-based Relative Localization for Collision Avoidance in Micro Air Vehicle teams},
author = {Mario Coppola and Kimberly McGuire and Kirk Y. W. Scheper and Guido C. H. E. Croon},
url = {https://arxiv.org/abs/1609.08811},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
Joao Aguiar Vieira Caetano Model identification of a flapping wing micro aerial vehicle (PhD Thesis) Delft University of Technology, 2016. @phdthesis{5311a47f267e46b391315228e22fef8b,
title = {Model identification of a flapping wing micro aerial vehicle},
author = {Joao Aguiar Vieira Caetano},
url = {https://research.tudelft.nl/en/publications/model-identification-of-a-flapping-wing-micro-aerial-vehicle},
doi = {10.4233/uuid:5311a47f-267e-46b3-9131-5228e22fef8b},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
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). @article{392ed4613bb94a7baba392af587ad88c,
title = {Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle},
author = {JV Aguiar Vieira Caetano and MB Weehuizen and CC Visser and GCHE Croon and M Mulder},
url = {https://research.tudelft.nl/en/publications/rigid-body-kinematics-versus-flapping-kinematics-of-a-flapping-wi},
doi = {10.2514/1.G000923},
issn = {0731-5090},
year = {2015},
date = {2015-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
volume = {38},
number = {12},
pages = {2257–2269},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
note = {harvest},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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). @article{32089b562f8a49ad81019d0d0e0687b5,
title = {Passively stable flapping flight from hover to fast forward through shift in wing position},
author = {JA Koopmans and S Tijmons and C Wagter and GCHE Croon},
url = {https://research.tudelft.nl/en/publications/passively-stable-flapping-flight-from-hover-to-fast-forward-throu},
doi = {10.1260/1756-8293.7.4.407},
issn = {1756-8293},
year = {2015},
date = {2015-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {7},
number = {4},
pages = {407–418},
publisher = {Multi-Science Publishing Co. Ltd},
note = {harvest},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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). @article{84c1758fc4354bbab15123b446afd865,
title = {Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: Free flight versus wind-tunnel experimental methods},
author = {JV Aguiar Vieira Caetano and M Percin and BW Oudheusden and BDW Remes and C Wagter and GCHE Croon and CC Visser},
url = {https://research.tudelft.nl/en/publications/error-analysis-and-assessment-of-unsteady-forces-acting-on-a-flap},
doi = {10.1088/1748-3190/10/5/056004},
issn = {1748-3182},
year = {2015},
date = {2015-01-01},
journal = {Bioinspiration & Biomimetics: learning from nature},
volume = {10},
number = {5},
pages = {1–22},
publisher = {IOP Publishing},
note = {harvest},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{78d777cd72fe4a9ca84600c6a6c4cd1f,
title = {Controlling spacecraft landings with constantly and exponentially decreasing time-to-contact},
author = {GCHE Croon and D Alazard and D Izzo},
url = {https://research.tudelft.nl/en/publications/controlling-spacecraft-landings-with-constantly-and-exponentially},
doi = {10.1109/TAES.2014.130135},
issn = {0018-9251},
year = {2015},
date = {2015-01-01},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
volume = {51},
number = {2},
pages = {1241–1252},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
V Casseau; GCHE Croon; D Izzo; C Pandolfi Morphologic and aerodynamic considerations regarding the plumed seeds of tragopogon pratensis and their implications for seed dispersal (Journal Article) In: PLoS ONE, vol. 10, no. 5, pp. 1–17, 2015, ISSN: 1932-6203. @article{e08152ce6a754a029ffbdcbc62811768,
title = {Morphologic and aerodynamic considerations regarding the plumed seeds of tragopogon pratensis and their implications for seed dispersal},
author = {V Casseau and GCHE Croon and D Izzo and C Pandolfi},
url = {https://research.tudelft.nl/en/publications/morphologic-and-aerodynamic-considerations-regarding-the-plumed-s},
doi = {10.1371/journal.pone.0125040},
issn = {1932-6203},
year = {2015},
date = {2015-01-01},
journal = {PLoS ONE},
volume = {10},
number = {5},
pages = {1–17},
publisher = {Public Library of Science (PLOS)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
J A Koopmans; S Tijmons; C De Wagter; G C H E de 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, 2015, ISBN: 10.1260/1756-8293.7.4.407. @article{Koopmans2015,
title = {Passively Stable Flapping Flight From Hover to Fast Forward Through Shift in Wing Position},
author = {J A Koopmans and S Tijmons and C De Wagter and G C H E de Croon},
doi = {10.1260/1756-8293.7.4.407},
isbn = {10.1260/1756-8293.7.4.407},
year = {2015},
date = {2015-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {7},
number = {4},
publisher = {Multi Science Publishing},
abstract = {Flapping Wing Micro Air Vehicles (FWMAVs) hold the potential to both cover large distances and perform precision flights when arrived at destination. However, flying at different speeds leads to a complex control problem for attitude stabilization. Inspired by nature, we present a morphing mechanism that allows tailed FW- MAVs to have a passively stabilized attitude both in fast forward flight and in slow hovering flight. The mechanism displaces the wings and hence aerodynamic center. It is implemented on the DelFly II and tested in-flight in a motion tracking arena. The experimental tests show that the morphing mechanism indeed allows to fly passively stable in multiple flight modes. Just changing the aerodynamic center allows the DelFly II to fly fast forward (~ 6 m/s, pitch attitude of 10°), transition to slow forward flight (~ 0.8 m/s, pitch attitude of 55°), and back. The proposed mechanism paves the way for FWMAVs performing long range missions such as search-and-rescue.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Flapping Wing Micro Air Vehicles (FWMAVs) hold the potential to both cover large distances and perform precision flights when arrived at destination. However, flying at different speeds leads to a complex control problem for attitude stabilization. Inspired by nature, we present a morphing mechanism that allows tailed FW- MAVs to have a passively stabilized attitude both in fast forward flight and in slow hovering flight. The mechanism displaces the wings and hence aerodynamic center. It is implemented on the DelFly II and tested in-flight in a motion tracking arena. The experimental tests show that the morphing mechanism indeed allows to fly passively stable in multiple flight modes. Just changing the aerodynamic center allows the DelFly II to fly fast forward (~ 6 m/s, pitch attitude of 10°), transition to slow forward flight (~ 0.8 m/s, pitch attitude of 55°), and back. The proposed mechanism paves the way for FWMAVs performing long range missions such as search-and-rescue. |
W. B. Tay; S. Deng; B. W. Oudheusden; H. Bijl Validation of immersed boundary method for the numerical simulation of flapping wing flight (Journal Article) In: Computers & Fluids, vol. 115, pp. 226-242, 2015. @article{TayEtAl2015,
title = {Validation of immersed boundary method for the numerical simulation of flapping wing flight},
author = {W. B. Tay and S. Deng and B. W. Oudheusden and H. Bijl},
doi = {10.1016/j.compfluid.2015.04.009},
year = {2015},
date = {2015-01-01},
journal = {Computers & Fluids},
volume = {115},
pages = {226-242},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
W. B. Tay; B. W. Oudheusden; H. Bijl Numerical simulation of a flapping four-wing micro-aerial vehicle (Journal Article) In: Journal of Fluids and Structures, vol. 55, pp. 237-261, 2015. @article{TayEtAl2015b,
title = {Numerical simulation of a flapping four-wing micro-aerial vehicle},
author = {W. B. Tay and B. W. Oudheusden and H. Bijl},
doi = {10.1016/j.jfluidstructs.2015.03.003},
year = {2015},
date = {2015-01-01},
journal = {Journal of Fluids and Structures},
volume = {55},
pages = {237-261},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
JV Caetano; M Percin; BW van Oudheusden; B Remes; C de Wagter; GCHE de Croon; CC de 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, vol. 10, no. 5, pp. 056004, 2015. @article{caetano2015error,
title = {Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: free flight versus wind-tunnel experimental methods},
author = {JV Caetano and M Percin and BW van Oudheusden and B Remes and C de Wagter and GCHE de Croon and CC de Visser},
year = {2015},
date = {2015-01-01},
journal = {Bioinspiration & biomimetics},
volume = {10},
number = {5},
pages = {056004},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
JV Caetano; MB Weehuizen; CC De Visser; GCHE De 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, vol. 38, no. 12, pp. 2257–2269, 2015. @article{caetano2015rigid,
title = {Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle},
author = {JV Caetano and MB Weehuizen and CC De Visser and GCHE De Croon and M Mulder},
year = {2015},
date = {2015-01-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {38},
number = {12},
pages = {2257--2269},
publisher = {American Institute of Aeronautics and Astronautics},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Proceedings Articles
|
J L Verboom; S Tijmons; C De Wagter; B Remes; R Babuska; G C H E de Croon Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle (Proceedings Article) In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5846–5851, IEEE, 2015. @inproceedings{Verboom2015,
title = {Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle},
author = {J L Verboom and S Tijmons and C De Wagter and B Remes and R Babuska and G C H E de Croon},
year = {2015},
date = {2015-05-01},
booktitle = {2015 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {5846--5851},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Mustafa Perçin; Bas Oudheusden; Bart Remes Force generation and wing deformation characteristics of the ’DelFly II’ MAV in hovering flight conditions (Proceedings Article) In: International Micro Air Vehicle Conference and Flight Competition, 2015, (International Micro Air Vehicle Conference and Flight Competition 2015, IMAV 2015 ; Conference date: 15-09-2015 Through 18-09-2015). @inproceedings{a31aa7add4ee411c875a599c9b3a6660,
title = {Force generation and wing deformation characteristics of the ’DelFly II’ MAV in hovering flight conditions},
author = {Mustafa Perçin and Bas Oudheusden and Bart Remes},
url = {https://research.tudelft.nl/en/publications/force-generation-and-wing-deformation-characteristics-of-the-delf},
year = {2015},
date = {2015-01-01},
booktitle = {International Micro Air Vehicle Conference and Flight Competition},
note = {International Micro Air Vehicle Conference and Flight Competition 2015, IMAV 2015 ; Conference date: 15-09-2015 Through 18-09-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
JL Verboom; S Tijmons; C Wagter; B Remes; R Babuska; GCHE Croon Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle (Proceedings Article) In: Okamura, A (Ed.): Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 5846–5851, IEEE Society, 2015, ISBN: 978-1-4799-6923-4, (Harvest; ICRA 2015, Seattle, WA, USA ; Conference date: 26-05-2015 Through 30-05-2015). @inproceedings{b05f9cc98d1f4c05b7f2208bb0f7eb06,
title = {Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle},
author = {JL Verboom and S Tijmons and C Wagter and B Remes and R Babuska and GCHE Croon},
editor = {A Okamura},
url = {https://research.tudelft.nl/en/publications/attitude-and-altitude-estimation-and-control-on-board-a-flapping-},
doi = {10.1109/ICRA.2015.7140017},
isbn = {978-1-4799-6923-4},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 2015 IEEE International Conference on Robotics and Automation},
pages = {5846–5851},
publisher = {IEEE Society},
note = {Harvest; ICRA 2015, Seattle, WA, USA ; Conference date: 26-05-2015 Through 30-05-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
JV Aguiar Vieira Caetano; CC Visser; GCHE Croon; M Mulder Effects of eigenmodes, forward velocity and flapping frequency in force generation mechanisms of a flapping-wing mav (Proceedings Article) In: Riyanto, B; Budiyono, A (Ed.): Proceedings of the international conference on intelligent unmanned systems, pp. 1–6, s.n., 2015, (International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015). @inproceedings{cd752eba815349e8b266ae32ac6c7e5f,
title = {Effects of eigenmodes, forward velocity and flapping frequency in force generation mechanisms of a flapping-wing mav},
author = {JV Aguiar Vieira Caetano and CC Visser and GCHE Croon and M Mulder},
editor = {B Riyanto and A Budiyono},
url = {https://research.tudelft.nl/en/publications/effects-of-eigenmodes-forward-velocity-and-flapping-frequency-in-},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the international conference on intelligent unmanned systems},
pages = {1–6},
publisher = {s.n.},
note = {International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
HW Ho; C Wagter; BDW Remes; GCHE Croon Optical flow for self-supervised learning of obstacle appearance (Proceedings Article) In: Zhang, J; Knoll, A (Ed.): Proceedings of the IEEE/RSJ International conference on intelligent robots and systems (IROS2015), pp. 1–7, IEEE Society, 2015, (International conference on intelligent robots and systems (IROS2015), Hamburg, Germany ; Conference date: 28-09-2015 Through 02-10-2015). @inproceedings{9b4c3e2504b84944b7399b30d6e05113,
title = {Optical flow for self-supervised learning of obstacle appearance},
author = {HW Ho and C Wagter and BDW Remes and GCHE Croon},
editor = {J Zhang and A Knoll},
url = {https://research.tudelft.nl/en/publications/optical-flow-for-self-supervised-learning-of-obstacle-appearance},
doi = {10.1109/IROS.2015.7353805},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the IEEE/RSJ International conference on intelligent robots and systems (IROS2015)},
pages = {1–7},
publisher = {IEEE Society},
note = {International conference on intelligent robots and systems (IROS2015), Hamburg, Germany ; Conference date: 28-09-2015 Through 02-10-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
SF Armanini; CC Visser; GCHE Croon Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics (Proceedings Article) In: s.n., (Ed.): Proceedings of the AIAA atmospheric flight mechanics conference, pp. 1–16, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2015, ISBN: 978-1-62410-340-7, (harvest AIAA 2015-0234; AIAA atmospheric flight mechanics conference, Kissimmee, USA ; Conference date: 05-01-2015 Through 09-01-2015). @inproceedings{e9a24caab465439bb0d34d68e0d0a6fa,
title = {Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics},
author = {SF Armanini and CC Visser and GCHE Croon},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/black-box-lti-modelling-of-flapping-wing-micro-aerial-vehicle-dyn},
doi = {10.2514/6.2015-0234},
isbn = {978-1-62410-340-7},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the AIAA atmospheric flight mechanics conference},
pages = {1–16},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2015-0234; AIAA atmospheric flight mechanics conference, Kissimmee, USA ; Conference date: 05-01-2015 Through 09-01-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S Deng; T Xiao; M Percin; BW Oudheusden; H Bijl; BDW Remes Numerical simulation of an X-wing flapping wing MAV by means of a deforming overset grid method (Proceedings Article) In: s.n., (Ed.): Proceedings of the 22nd AIAA computational fluid dynamics conference, pp. 1–12, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2015, ISBN: 978-1-62410-366-7, (harvest AIAA 2015-2615; 22nd AIAA computational fluid dynamics conference, Dallas, USA ; Conference date: 22-06-2015 Through 26-06-2015). @inproceedings{baa376377f2b47b8ad232b8be54d1c03,
title = {Numerical simulation of an X-wing flapping wing MAV by means of a deforming overset grid method},
author = {S Deng and T Xiao and M Percin and BW Oudheusden and H Bijl and BDW Remes},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/numerical-simulation-of-an-x-wing-flapping-wing-mav-by-means-of-a},
doi = {10.2514/6.2015-2615},
isbn = {978-1-62410-366-7},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 22nd AIAA computational fluid dynamics conference},
pages = {1–12},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2015-2615; 22nd AIAA computational fluid dynamics conference, Dallas, USA ; Conference date: 22-06-2015 Through 26-06-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
JV Aguiar Vieira Caetano; SF Armanini; CC Visser; GCHE Croon; M Mulder Data-informed quasi-steady aerodynamic model of a clap-and-fling flapping wing MAV (Proceedings Article) In: Riyanto, B; Budiyono, A (Ed.): Proceedings of the international conference on intelligent unmanned systems, pp. 1–6, s.n., 2015, (International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015). @inproceedings{905d04e8df18434f829aaa32762612b5,
title = {Data-informed quasi-steady aerodynamic model of a clap-and-fling flapping wing MAV},
author = {JV Aguiar Vieira Caetano and SF Armanini and CC Visser and GCHE Croon and M Mulder},
editor = {B Riyanto and A Budiyono},
url = {https://research.tudelft.nl/en/publications/data-informed-quasi-steady-aerodynamic-model-of-a-clap-and-fling-},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the international conference on intelligent unmanned systems},
pages = {1–6},
publisher = {s.n.},
note = {International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
LNC Sikkel; EJJ Smeur; GCHE Croon; BDW Remes; QP Chu Robust rotorcraft control using an incremental sliding mode controller (Proceedings Article) In: Bordeneuve-Guibe, J; Drouin, A; Roos, C (Ed.): Proceedings of the 3rd CEAS specialist conference on guidance, navigation and control, pp. 1–17, Springer, 2015, ISBN: 978-3-319-17517-1, (3rd CEAS specialist conference on guidance, navigation and control, Toulouse, France ; Conference date: 13-04-2015 Through 15-04-2015). @inproceedings{d7c1dfcaf85b4238a46535fe5b5a9564,
title = {Robust rotorcraft control using an incremental sliding mode controller},
author = {LNC Sikkel and EJJ Smeur and GCHE Croon and BDW Remes and QP Chu},
editor = {J Bordeneuve-Guibe and A Drouin and C Roos},
url = {https://research.tudelft.nl/en/publications/robust-rotorcraft-control-using-an-incremental-sliding-mode-contr},
doi = {10.1007/978-3-319-17518-8},
isbn = {978-3-319-17517-1},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 3rd CEAS specialist conference on guidance, navigation and control},
pages = {1–17},
publisher = {Springer},
note = {3rd CEAS specialist conference on guidance, navigation and control, Toulouse, France ; Conference date: 13-04-2015 Through 15-04-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J V Caetano; S F Armanini; De C C Visser; De G C H E Croon; M Mulder Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV (Proceedings Article) In: Int. conf. on Intelligent Unmanned Systems (ICIUS), Bali, Indonesia, 2015. @inproceedings{Caetano2015c,
title = {Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV},
author = {J V Caetano and S F Armanini and De C C Visser and De G C H E Croon and M Mulder},
year = {2015},
date = {2015-01-01},
booktitle = {Int. conf. on Intelligent Unmanned Systems (ICIUS)},
address = {Bali, Indonesia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
SF Armanini; M Polak; JE Gautrey; A Lucas; JF Whidborne Decision-making for unmanned flight in icing conditions (Proceedings Article) In: Abbink, F; Hermans, C (Ed.): Proceedings of the 5th CEAS air and space conference, CEAS 2015, pp. 1–15, NVvL, 2015, ISBN: 978-1-906913-20-5, (5th CEAS air and space conference, CEAS 2015 ; Conference date: 07-09-2015 Through 11-09-2015). @inproceedings{d91fd768737a483e9fea088caed913e1,
title = {Decision-making for unmanned flight in icing conditions},
author = {SF Armanini and M Polak and JE Gautrey and A Lucas and JF Whidborne},
editor = {F Abbink and C Hermans},
url = {https://research.tudelft.nl/en/publications/decision-making-for-unmanned-flight-in-icing-conditions},
isbn = {978-1-906913-20-5},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 5th CEAS air and space conference, CEAS 2015},
pages = {1–15},
publisher = {NVvL},
note = {5th CEAS air and space conference, CEAS 2015 ; Conference date: 07-09-2015 Through 11-09-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Sophie F Armanini; C C de Visser; G C H E de Croon Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics (Proceedings Article) In: AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2015, ISBN: 978-1-62410-340-7. @inproceedings{Armanini2015d,
title = {Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics},
author = {Sophie F Armanini and C C de Visser and G C H E de Croon},
doi = {10.2514/6.2015-0234},
isbn = {978-1-62410-340-7},
year = {2015},
date = {2015-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics Conference},
publisher = {American Institute of Aeronautics and Astronautics},
address = {Reston, Virginia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
C Fuchs; C Borst; GCHE Croon; MM Paassen; M Mulder An ecological approach to the supervisory control of UAV swarms (Proceedings Article) In: Fumeaux, C; Sanagavarapu, A (Ed.): Proceedings of the 18th international symposium on aviation psychology, ISAP2015, pp. 177–182, Wright State University, 2015, ISBN: 978-1-5108-0408-1, (18th International Symposium on Aviation Psychology, ISAP2015 ; Conference date: 04-05-2015 Through 07-05-2015). @inproceedings{722255041e784a508be88baf8e652b31,
title = {An ecological approach to the supervisory control of UAV swarms},
author = {C Fuchs and C Borst and GCHE Croon and MM Paassen and M Mulder},
editor = {C Fumeaux and A Sanagavarapu},
url = {https://research.tudelft.nl/en/publications/an-ecological-approach-to-the-supervisory-control-of-uav-swarms},
isbn = {978-1-5108-0408-1},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 18th international symposium on aviation psychology, ISAP2015},
pages = {177–182},
publisher = {Wright State University},
note = {18th International Symposium on Aviation Psychology, ISAP2015 ; Conference date: 04-05-2015 Through 07-05-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
S. Van Lochem Ecological Interface Design for Collaboration of Multiple UAVs in Remote Areas (Masters Thesis) Delft University of Technology, 2015, (Borst, C. (mentor); De Croon, G.C.H.E. (mentor); Mulder, M. (mentor); Van Paassen, M.M. (mentor)). @mastersthesis{uuid:483b3b05-4e72-44a2-840b-a207e06990af,
title = {Ecological Interface Design for Collaboration of Multiple UAVs in Remote Areas},
author = {S. Van Lochem},
url = {http://resolver.tudelft.nl/uuid:483b3b05-4e72-44a2-840b-a207e06990af},
year = {2015},
date = {2015-01-01},
school = {Delft University of Technology},
abstract = {Unmanned Aerial Vehicles (UAVs) can be used to access remote areas that were otherwise inaccessible, for example, for surveillance missions. Collaboration between them can help overcome communication constraints by building airborne relay networks that allow beyond line of sight communication. This research investigates if a single operator can supervise multiple UAVs in a collaborative surveillance task under communication constraints. For this purpose and ecological interface was designed to support operators in their task and to bring flexibility in the system. A human-in-the-loop evaluation study was performed to investigate the successfulness of operators in the control task of such a mission including an analysis of individual components of the interface. It was shown that operators are able to successfully operate surveillance missions under communication- and battery constraints. Participants did however not completely do this without separation conflicts and communication losses, which indicates that the interface lacks elements representing endurance and separation assurance. To an extent the interface design turned out to be scalable, with a few remaining visualizations that still suffered from this problem. More advanced ways of displaying information on request and grouping of select information is thought to offer opportunities to improve ground control interface on this matter.},
note = {Borst, C. (mentor); De Croon, G.C.H.E. (mentor); Mulder, M. (mentor); Van Paassen, M.M. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Unmanned Aerial Vehicles (UAVs) can be used to access remote areas that were otherwise inaccessible, for example, for surveillance missions. Collaboration between them can help overcome communication constraints by building airborne relay networks that allow beyond line of sight communication. This research investigates if a single operator can supervise multiple UAVs in a collaborative surveillance task under communication constraints. For this purpose and ecological interface was designed to support operators in their task and to bring flexibility in the system. A human-in-the-loop evaluation study was performed to investigate the successfulness of operators in the control task of such a mission including an analysis of individual components of the interface. It was shown that operators are able to successfully operate surveillance missions under communication- and battery constraints. Participants did however not completely do this without separation conflicts and communication losses, which indicates that the interface lacks elements representing endurance and separation assurance. To an extent the interface design turned out to be scalable, with a few remaining visualizations that still suffered from this problem. More advanced ways of displaying information on request and grouping of select information is thought to offer opportunities to improve ground control interface on this matter. |
K. G. Van Hecke Persistent self-supervised learning principle: Study and demonstration on flying robots (Masters Thesis) Delft University of Technology, 2015, (De Croon, G.C.H.E. (mentor); Van der Maaten, L.J.P. (mentor); Izzo, D. (mentor); Hennes, D. (mentor)). @mastersthesis{uuid:b722da02-089f-42a8-a3ea-fb3f5900bcdd,
title = {Persistent self-supervised learning principle: Study and demonstration on flying robots},
author = {K. G. Van Hecke},
url = {http://resolver.tudelft.nl/uuid:b722da02-089f-42a8-a3ea-fb3f5900bcdd},
year = {2015},
date = {2015-01-01},
school = {Delft University of Technology},
abstract = {We introduce, study and demonstrate Persistent Self-Supervised Learning (PSSL), a machine learning method for usage onboard robotic platforms. The PSSL model leverages a standard supervised learning method to simplify the learning problem, but acquires training data in an unsupervised and autonomous manner. Using two platforms, a small multicopter on earth and the space based test bed SPHERES inside the International Space Station , we demonstrate the PSSL principle on a proof of concept problem: learning monocular depth estimation using stereo vision. The robot operates first in a ground truth mode based on the distance perceived by the stereo system, while persistently learning the environment using monocular cues. After the performance of the estimator transcends a ROC quality measure, the robot switches to operation based on the monocular depth estimates. Our results show the viability of the PSSL method, by being able to navigate a room on the basis of learned monocular vision, without collecting any training data beforehand. We identify a major challenge in PSSL caused by a training bias due to behavioral differences in the estimator and the ground truth based operation; however, this is a known problem also for related learning methods such as reinforcement learning. PSSL helps solve this problem by 1) clearly separating the learning problem from the behavior and 2) the possibility to keep learning during estimator behavior.},
note = {De Croon, G.C.H.E. (mentor); Van der Maaten, L.J.P. (mentor); Izzo, D. (mentor); Hennes, D. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We introduce, study and demonstrate Persistent Self-Supervised Learning (PSSL), a machine learning method for usage onboard robotic platforms. The PSSL model leverages a standard supervised learning method to simplify the learning problem, but acquires training data in an unsupervised and autonomous manner. Using two platforms, a small multicopter on earth and the space based test bed SPHERES inside the International Space Station , we demonstrate the PSSL principle on a proof of concept problem: learning monocular depth estimation using stereo vision. The robot operates first in a ground truth mode based on the distance perceived by the stereo system, while persistently learning the environment using monocular cues. After the performance of the estimator transcends a ROC quality measure, the robot switches to operation based on the monocular depth estimates. Our results show the viability of the PSSL method, by being able to navigate a room on the basis of learned monocular vision, without collecting any training data beforehand. We identify a major challenge in PSSL caused by a training bias due to behavioral differences in the estimator and the ground truth based operation; however, this is a known problem also for related learning methods such as reinforcement learning. PSSL helps solve this problem by 1) clearly separating the learning problem from the behavior and 2) the possibility to keep learning during estimator behavior. |
T. Szabó Autonomous Collision Avoidance for Swarms of MAVs: Based solely on RSSI measurements (Masters Thesis) Delft University of Technology, 2015, (Mulder, J.A. (mentor); de Croon, G.C.H.E. (mentor); de Visser, C.C. (mentor); Scheper, K.Y.W. (mentor); Verhoeven, C.J.M. (mentor)). @mastersthesis{uuid:3552d27e-6816-4ea3-85f6-4464deb8f1bd,
title = {Autonomous Collision Avoidance for Swarms of MAVs: Based solely on RSSI measurements},
author = {T. Szabó},
url = {http://resolver.tudelft.nl/uuid:3552d27e-6816-4ea3-85f6-4464deb8f1bd},
year = {2015},
date = {2015-01-01},
school = {Delft University of Technology},
abstract = {Swarming is a promising solution for extending the flight time and payload carrying capabilities of Micro Aerial Vehicles (MAVs), where recent years have brought many advancements. These allow MAVs to operate ever more autonomously by tackling problems such as obstacle avoidance and autonomous navigation. A major challenge that still remains, however, is to ensure collision avoidance within the swarm itself. Avoiding collisions with other members of the swarm requires knowledge of their relative positions - typically requiring additional sensors to be carried on-board. Using the signal strength of the MAVs’ communication link provides an alternative method for estimating relative distances between the members of the swarm without requiring need for any additional sensors.},
note = {Mulder, J.A. (mentor); de Croon, G.C.H.E. (mentor); de Visser, C.C. (mentor); Scheper, K.Y.W. (mentor); Verhoeven, C.J.M. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Swarming is a promising solution for extending the flight time and payload carrying capabilities of Micro Aerial Vehicles (MAVs), where recent years have brought many advancements. These allow MAVs to operate ever more autonomously by tackling problems such as obstacle avoidance and autonomous navigation. A major challenge that still remains, however, is to ensure collision avoidance within the swarm itself. Avoiding collisions with other members of the swarm requires knowledge of their relative positions - typically requiring additional sensors to be carried on-board. Using the signal strength of the MAVs’ communication link provides an alternative method for estimating relative distances between the members of the swarm without requiring need for any additional sensors. |
M Paz Gomes Verdugo Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing (Masters Thesis) Delft University of Technology, Delft, NL, 2015. @mastersthesis{PazGomesVerdugo2015,
title = {Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing},
author = {M Paz Gomes Verdugo},
year = {2015},
date = {2015-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
Miscellaneous
|
G. C. H. E. Croon Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy (Miscellaneous) 2015. @misc{1506.01153,
title = {Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy},
author = {G. C. H. E. Croon},
url = {https://arxiv.org/abs/1506.01153},
year = {2015},
date = {2015-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
M Percin Aerodynamic mechanisms of flapping flight (PhD Thesis) Delft University of Technology, 2015, ISBN: 9789462598430, (embargo 31-12-2016). @phdthesis{85c8825a960d40cdbfffa991358dec70,
title = {Aerodynamic mechanisms of flapping flight},
author = {M Percin},
url = {https://research.tudelft.nl/en/publications/aerodynamic-mechanisms-of-flapping-flight},
isbn = {9789462598430},
year = {2015},
date = {2015-01-01},
publisher = {M Percin},
school = {Delft University of Technology},
note = {embargo 31-12-2016},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
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?
