Publications

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

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

Nature Machine Intelligence Paper

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

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

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

Science Robotics Paper

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

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

 

Delfly Book

 

 

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

 

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

 

Science paper

 

 

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

 

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

 

 

 

 

 

All publications

691 entries « 13 of 14 »

2014

Proceedings Articles

S Deng; M Percin; BW Oudheusden; BDW Remes; A Tenaglia

Force and flowfield measurements of a bio-inspired flapping MAV `DelFly Micro¿. (Proceedings Article)

In: s.n., (Ed.): AIAA, pp. 1–10, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2014, ISBN: 2014-2564.

(Links | BibTeX)

J V Caetano; M B Weehuizen; C C de Visser; G C H E de Croon; C de Wagter; B Remes; M Mulder

Rigid vs. Flapping: The Effects of Kinematic Formulations in Force Determination of a Free Flying Flapping WIng Micro Air Vehicle (Proceedings Article)

In: International Conference on Unmanned Aircraft Systems, pp. 949–959, Institute of Electrical and Electronics Engineers Orlando, US-FL, 2014.

(BibTeX)

S Deng; M Percin; B W van Oudheusden; B D W Remes; A Tenaglia

Force and flow field measurements of a bio-inspired flapping-wing MAV 'Delfly Micro' in hovering flight (Proceedings Article)

In: 32nd AIAA Applied Aerodynamics Conference, 2014, ISBN: 9781624102882.

(Abstract | BibTeX)

Masters Theses

K. Y. W. Scheper

Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap (Masters Thesis)

Delft University of Technology, 2014, (De Croon, G.C.H.E. (mentor); De Visser, C.C. (mentor)).

(Abstract | Links | BibTeX)

Tijs Noyon

The effect of wing deformation on unsteady aerodynamic mechanisms in hovering flapping flight: Numerical study using a three-dimensional immersed boundary method (Masters Thesis)

TU Delft Aerospace Engineering, 2014, (Bijl, Hester (mentor); van Oudheusden, Bas (mentor); Tay, Weebeng (mentor); de Wagter, Christophe (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Johan Melis

Maneuvering Fruit Fly Flight (Masters Thesis)

TU Delft Aerospace Engineering, 2014, (van Oudheusden, B.W. (mentor); Muijres, Florian (mentor); Remes, B.D.W. (mentor); Perçin, M. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Kirk Y W Scheper

Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap (Masters Thesis)

Delft University of Technology, Delft, NL, 2014.

(Links | BibTeX)

Miscellaneous

Kirk Y. W. Scheper; Sjoerd Tijmons; Coen C. Visser; Guido C. H. E. Croon

Behaviour Trees for Evolutionary Robotics (Miscellaneous)

2014.

(Links | BibTeX)

2013

Journal Articles

JV Aguiar Vieira Caetano; GCHE Croon; CC Visser; BDW Remes; C Wagter

Linear Aerodynamic Model Identification of a Flapping Wing MAV Based on Flight Test Data (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 5/2013, no. 4, pp. 273–286, 2013, ISSN: 1756-8293.

(Links | BibTeX)

GCHE Croon; LM O'Connor; C Nicol; D Izzo

Evolutionary Robotics Approach to Odor Source Localization (Journal Article)

In: Neurocomputing, vol. 121, pp. 481–497, 2013, ISSN: 0925-2312.

(Links | BibTeX)

GCHE Croon; HW Ho; C Wagter; E Kampen; BDW Remes; QP Chu

Optic-flow based slope estimation for autonomous landing (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 5/2013, no. 4, pp. 287–297, 2013, ISSN: 1756-8293.

(Links | BibTeX)

WB Tay; H Bijl; BW Oudheusden

Biplane and tail effects in flapping flight (Journal Article)

In: AIAA journal, vol. 51, no. 9, pp. 2133–2146, 2013.

(Links | BibTeX)

Book Chapters

S Tijmons; GCHE Croon; BDW Remes; C Wagter; HM Ruijsink; EJ Kampen; QP Chu

Stereo Vision Based Obstacle Avoidance on Flapping Wing MAV's (Book Chapter)

In: Mulder, JA; Choukroun, D; Kampen, E; Visser, CC; Looye, GJ; Chu, QP (Ed.): Advances in Aerospace Guidance, Navigation and Control, pp. 463–482, Springer, 2013, ISBN: 978-3-642-38253-6.

(Links | BibTeX)

C Wagter; A Koopmans; GCHE Croon; BDW Remes; HM Ruijsink

Autonomous Wind Tunnel Free-Flight of a Flapping Wing MAV (Book Chapter)

In: Mulder, JA; Choukroun, D; Kampen, E (Ed.): Advances in Aerospace Guidance, Navigation and Control, pp. 603–621, Springer, 2013, ISBN: 978-3-642-38253-6.

(Links | BibTeX)

Y. I. Jenie; EJ Kampen; BDW Remes

Cooperative Autonomous Collission Avoidance System for Unmanned Aerial Vehicles (Book Chapter)

In: Chu, QP; Mulder, JA; Choukroun, D; Kampen, E; Visser, CC; Looye, GJ (Ed.): Advances in Aerosapce Guidance, Navigation and Control, pp. 387–405, Springer, 2013, ISBN: 978-3-642-38252-9.

(Links | BibTeX)

Proceedings Articles

JV Aguiar Vieira Caetano; J Verboom; GCHE Croon; CC Visser; BDW Remes

Near-Hover Flapping Wing MAV Aerodynamic Modelling - a linear model approach (Proceedings Article)

In: Moschetta, JM (Ed.): Proceedings of the IMAV 2013 - International Micro Air Vehicle Conference and Flight Competition, pp. 1–10, IMAV, 2013, (IMAV 2013: International Micro Air Vehicle Conference and Flight Competition ; Conference date: 17-09-2013 Through 20-09-2013).

(Links | BibTeX)

JV Aguiar Vieira Caetano; CC Visser; BDW Remes; C Wagter; M Mulder

Modelling a Flapping Wing MAV Flight Path Reconstruction of the Delfly II (Proceedings Article)

In: Scharl, J (Ed.): Proceedings the AIAA Modeling and Simulation Technologies Conference, pp. 1–12, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2013, (The AIAA Modeling and Simulation Technologies (MST) Conference ; Conference date: 19-08-2013 Through 22-08-2013).

(Links | BibTeX)

I Dario; LF Simoes; M Martens; GCHE Croon; A Heritier; CH Yam

Search for a grand tour of the jupiter galilean moons (Proceedings Article)

In: S.N., (Ed.): Proceedings of the GECCO: Genetic and Evolutionary Computing Conference, pp. 1301–1308, Association for Computing Machinery (ACM), United States, 2013, (GECCO 2013 : Genetic and Evolutionary Computing Conference ; Conference date: 06-07-2013 Through 10-07-2013).

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S Deng; BW Oudheusden; BDW Remes; M Percin; H Bijl; HM Ruijsink

Experimental Investigation of the Flapping Performance on 'Delfly Micro' (Proceedings Article)

In: S.N., (Ed.): Proceedings of the International Micro Vehicle conference and competitions 2013, pp. 273–280, ENAC, 2013, (The International Micro Vehicle conference and competitions 2013 ; Conference date: 17-09-2013 Through 20-09-2013).

(Links | BibTeX)

GCHE Croon; S Nolfi

ACT-CORNER: Active corner finding for optic flow determination (Proceedings Article)

In: S.N., (Ed.): Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 4679–4684, IEEE Society, 2013.

(Links | BibTeX)

GCHE Croon; HW Ho; C Wagter; E Kampen; BDW Remes; QP Chu

Optic-flow based slope estimation for autonomous landing (Proceedings Article)

In: Moschetta, JM (Ed.): Proceedings of the International Micro Air Vehicle Conference and Flight Competition, pp. 1–10, IMAV, 2013, (The International Micro Air Vehicle Conference and Flight Competition ; Conference date: 17-09-2013 Through 20-09-2013).

(Links | BibTeX)

JV Aguiar Vieira Caetano; CC Visser; BDW Remes; C Wagter; M Mulder

Controlled flight maneuvers of a Flapping Wing Micro Air Vehicle: a step towards the Delfly II identification (Proceedings Article)

In: Lind, R (Ed.): Proceedings of the AIAA Atmospheric Flight Mechanics Conference, pp. 1–15, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2013, (The AIAA Atmospheric Flight Mechanics Conference ; Conference date: 19-08-2013 Through 22-08-2013).

(Links | BibTeX)

S Tijmons; GCHE Croon; BDW Remes; C Wagter; HM Ruijsink; E Kampen; QP Chu

Stereo Vision Based Obstacle Avoidance on Flapping Wing MAV's (Proceedings Article)

In: Mulder, JA; Choukroun, D; Kampen, E; VIsser, CC; Looye, GJ (Ed.): Proceedings of the EURO GNC 2013, pp. 80–97, Springer, 2013, (The EURO GNC 2013 ; Conference date: 10-04-2013 Through 12-04-2013).

(Links | BibTeX)

HW Ho; QP Chu

Automatic Landing System of a Quadrotor UAV Using Visual Servoing (Proceedings Article)

In: Mulder, JA (Ed.): Proceedings of the CEAS Euro GNC conference, pp. 1–20, Delft University of Technology, Netherlands, 2013, (CEAS Euro GNC 2013 Conference ; Conference date: 10-04-2013 Through 12-04-2013).

(Links | BibTeX)

C Wagter; A Koopmans; GCHE Croon; BDW Remes; HM Ruijsink

Autonomous Wind Tunnel Free-Flight of a Flapping Wing MAV (Proceedings Article)

In: Mulder, JA; Choukroun, D; Kampen, E; Visser, CC; Looye, GJ (Ed.): Proceedings of the EURO GNC 2013, pp. 34–53, Springer, 2013, (The EURO GNC 2013 ; Conference date: 10-04-2013 Through 12-04-2013).

(Links | BibTeX)

D Izzo; GCHE Croon

Nonlinear Model Predictive Control Applied to Vision-Based Spacecraft Landing (Proceedings Article)

In: Mulder, JA; Choukroun, D; Kampen, E; Visser, CC; Looye, GJ (Ed.): Proceedings of the Euro GNC 2013, pp. 1–17, Springer, 2013, (The EURO GNC 2013 ; Conference date: 10-04-2013 Through 12-04-2013).

(Links | BibTeX)

C Wagter; D Dokter; GCHE Croon; BDW Remes

Multi-Lifting-Device UAV Autonomous Flight at Any Transition Percentage (Proceedings Article)

In: Mulder, JA; Choukroun, D; Kampen, E; Visser, CC; Looye, GJ (Ed.): Proceedings of the Euro GNC 2013, pp. 18–33, Springer, 2013, (The EURO GNC 2013 ; Conference date: 10-04-2013 Through 12-04-2013).

(Links | BibTeX)

JV Aguiar Vieira Caetano; CC Visser; BDW Remes; C Wagter; M Mulder

Controlled flight maneuvers of a Flapping Wing Micro Air Vehicle: a step towards the Delfly II identification (Proceedings Article)

In: Lind, R (Ed.): Proceedings of the AIAA Atmospheric Flight Mechanics Conference, pp. 1–15, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2013, (The AIAA Atmospheric Flight Mechanics Conference ; Conference date: 19-08-2013 Through 22-08-2013).

(Links | BibTeX)

2012

Journal Articles

GCHE Croon; E De Weerdt; C Wagter; BDW Remes; HM Ruijsink

Sub-sampling: Real-time vision for micro air vehicles (Journal Article)

In: Robotics and Autonomous Systems, vol. 60, no. 2, pp. 167–181, 2012, ISSN: 0921-8890.

(Links | BibTeX)

M Percin; Y Hu; BW Oudheusden; BDW Remes; F Scarano

Wing flexibility effects in clap-and-fling (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 3, no. 4, pp. 217–227, 2012, ISSN: 1756-8293.

(Links | BibTeX)

GCHE Croon; MA Groen; C Wagter; BDW Remes; HM Ruijsink; BW Oudheusden

Design, aerodynamics and autonomy of the Delfly (Journal Article)

In: Bioinspiration & Biomimetics: learning from nature, vol. 7, no. 2, pp. 64–79, 2012, ISSN: 1748-3182.

(Links | BibTeX)

GCHE Croon; C Wagter; BDW Remes; HM Ruijsink

The Appearance Variation Cue for Obstacle Avoidance (Journal Article)

In: IEEE Transactions on Robotics, vol. 28, no. 2, pp. 529–534, 2012, ISSN: 1552-3098.

(Links | BibTeX)

Proceedings Articles

B. A. Hummelink; C. De Wagter; Q. P. Chu; J. A. Mulder

AHRS for Small Fixed-Wing UAV with Low-Cost IMU/GPS using Nonlinear Complementary Filtering (Proceedings Article)

In: AIAA Guidance, Navigation, and Control Conference, pp. 1–13, 2012, (AIAA Guidance, Navigation and Control Conference 2012 ; Conference date: 13-08-2012 Through 16-08-2012).

(Links | BibTeX)

M Percin; H E Eisma; Van B W Oudheusden; B Remes; R Ruijsink; De C Wagter; Aerodynamics Section; Aerodynamics Section; Aerodynamics Section

Flow visualization in the wake of flapping-wing MAV `DelFly II' in forward flight (Proceedings Article)

In: 30th AIAA Applied Aerodynamics Conference, American Institute of Aeronautics and Astronautics New Orleans, US-LA, 2012.

(BibTeX)

M Percin; HE Eisma; BW Oudheusden; BDW Remes; HM Ruijsink; C Wagter

Flow visualization in the wake of flapping-wing MAV `DelFly II¿ in forward flight (Proceedings Article)

In: s.n., (Ed.): Online Publication, pp. 1–12, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2012, (30th AIAA Applied Aerodynamics Conference ; Conference date: 25-06-2012 Through 28-06-2012).

(Links | BibTeX)

M Percin; HE Eisma; JHS Baar; BW Oudheusden; BDW Remes; HM Ruijsink; C Wagter

Wake reconstruction of flapping-wing MAV `DelFly II¿ in forward flight (Proceedings Article)

In: s.n., (Ed.): Proceedings of IMAV 2012, pp. 1–13, IMAV 2012 Organization Committee, 2012, (International Micro Air Vehicle Conference and Flight Competition 2012, IMAV 2012 ; Conference date: 03-07-2012 Through 06-07-2012).

(Links | BibTeX)

A Mendes; E Kampen; BDW Remes; QP Chu

Determining moments of inertia of small UAVs: A comparative analysis of an experimental method versus theoretical approaches (Proceedings Article)

In: Thienel, J (Ed.): Proceedings of the AIAA Guidance, Navigation and Control Conference 2012, pp. 1–14, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2012, ISBN: 978-1-62410-182-3, (AIAA Guidance, Navigation and Control Conference 2012 ; Conference date: 13-08-2012 Through 16-08-2012).

(Links | BibTeX)

Masters Theses

J. A. Koopmans

Delfly Freeflight: Autonomous flight of the Delfly in the wind tunnel using low-cost sensors (Masters Thesis)

Delft University of Technology, 2012, (Mulder, J.A. (mentor); Chu, P. (mentor); van Kampen, E. (mentor); van Oudheusden, B.W. (mentor); Remes, B. (mentor)).

(Abstract | Links | BibTeX)

S. Tijmons

Stereo Vision for Flapping Wing MAVs: Design of an Obstacle Avoidance system (Masters Thesis)

Delft University of Technology, 2012, (Mulder, J.A. (mentor); De Croon, G.C.H.E. (mentor); Van Kampen, E. (mentor); Remes, B.D.W. (mentor)).

(Abstract | Links | BibTeX)

Jerke Eisma

Flow visualization and force measurements on a flapping-wing MAV DelFly II in forward flight configuration (Masters Thesis)

TU Delft Aerospace Engineering, 2012, (Scarano, Fulvio (mentor); van Oudheusden, Bas (mentor); Perçin, Mustafa (mentor); Remes, Bart (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

A. S. Mendes

Vision-based automatic landing of a quadrotor UAV on a floating platform: A new approach using incremental backstepping (Masters Thesis)

Delft University of Technology, 2012, (Chu, Q.P. (mentor); Van Kampen, E. (mentor); Mulder, J.A. (mentor); Remes, B.D.W. (mentor)).

(Abstract | Links | BibTeX)

Andries J Koopmans

Delfly Freeflight -- Autonomous Flight of the Delfly in the Wind Tunnel using Low-Cost Sensors (Masters Thesis)

Delft University of Technology, Delft, NL, 2012.

(BibTeX)

2011

Journal Articles

Guido Croon; Eric Postma; Jaap Herik

Adaptive Gaze Control for Object Detection (Journal Article)

In: Cognitive Computation, vol. 3, no. 1, pp. 264–278, 2011, ISSN: 1866-9956.

(Links | BibTeX)

Proceedings Articles

GCHE Croon; C Wagter; BDW Remes; HM Ruijsink

Sky Segmentation Approach to obstacle avoidance (Proceedings Article)

In: Woerner, D (Ed.): Proceedings of the IEEE Aerospace Conference 2011, pp. 1–16, IEEE Society, 2011, (the IEEE Aerospace Conference 2011 ; Conference date: 05-03-2011 Through 12-03-2011).

(Links | BibTeX)

Masters Theses

M. Stuiver

Bats in Gliding Flight: A comparative wind tunnel investigation of the aerodynamics of gliding bats and a bat inspired gliding wing model (Masters Thesis)

Delft University of Technology, 2011, (Bijl, H. (mentor); van Oudheusden, B.W. (mentor); Muijres, F.T. (mentor); Remes, B.D.W. (mentor)).

(Abstract | Links | BibTeX)

B. A. Hummelink

Fixed-Wing UAV Integrated Navigation with Low-Cost IMU/GPS (Masters Thesis)

Delft University of Technology, 2011, (Chu, Q.P. (mentor); Mulder, J.A. (mentor); De Croon, G.C.H.E. (mentor); De Wagter, C. (mentor)).

(Abstract | Links | BibTeX)

2010

Journal Articles

P Feenstra; ARA Horst; BJ Correia Gracio; M Wentink

The effect of Simulator Motion Cuing on Steering Control Performance (Journal Article)

In: Transportation Research Record, vol. 2185, pp. 48–54, 2010, ISSN: 0361-1981.

(Links | BibTeX)

SR Jongerius; D Lentink

Structural analysis of a dragonfly wing (Journal Article)

In: Experimental Mechanics, vol. 2010, 2010, ISSN: 0014-4851.

(Links | BibTeX)

Proceedings Articles

MA Groen; BAP Bruggeman; BDW Remes; HM Ruijsink; BW Oudheusden; H Bijl

Improving flight performance of the flapping wing MAV Delfly II (Proceedings Article)

In: Vörsmann, P (Ed.): Proceedings of the International Micro Air Vehicle Conference and Flight Competition (IMAV2010), pp. 1–17, Geman Institue of Navigation (DGON), 2010, (International Micro Air Vehicle Conference and Flight Competition (IMAV2010), Braunschweig-Germany ; Conference date: 06-07-2010 Through 09-07-2010).

(Links | BibTeX)

GCHE Croon; C Wagter; BDW Remes; HM Ruijsink

Random sampling for indoor flight (Proceedings Article)

In: Vörsmann, P (Ed.): Proceedings of the International Micro Air Vehicle conference and competitions 2010 (IMAV 2010), pp. 1–9, DGON, 2010, (the International Micro Air Vehicle conference and competitions 2010 (IMAV 2010) ; Conference date: 06-07-2010 Through 09-07-2010).

(Links | BibTeX)

691 entries « 13 of 14 »