Publications

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, 4 (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, 361 (6407), pp. 1089–1094, 2018, ISSN: 0036-8075.

 

 

 

All publications

117 entries « 2 of 3 »

2016

Journal Articles

Ewoud J J Smeur; Qiping P Chu; Guido C H E de Croon

Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles (Journal Article)

Journal of Guidance, Control, and Dynamics, 39 (3), pp. 450-461, 2016.

(Links | BibTeX)

Guido C H E de Croon

Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy (Journal Article)

Bioinspiration & biomimetics, 11 (1), pp. 016004, 2016.

(BibTeX)

S F Armanini; J V Caetano; G C H E de Croon; C C de Visser; M Mulder

Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data (Journal Article)

Bioinspiration & Biomimetics, 11 (4), pp. 046002, 2016.

(BibTeX)

S F Armanini; De C C Visser; De G C H E Croon; M Mulder

Time-varying model identification of flapping-wing vehicle dynamics using flight data (Journal Article)

Journal of Guidance, Control, and Dynamics, 39 (3), pp. 526–541, 2016.

(Links | BibTeX)

M Percin; B W van Oudheusden; G C H E de Croon; B Remes

Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II in hovering flight (Journal Article)

Bioinspiration & biomimetics, 11 (3), pp. 036014, 2016.

(BibTeX)

Kirk Y W Scheper; Sjoerd Tijmons; Cornelius C de Visser; Guido C H E de Croon

Behaviour Trees for Evolutionary Robotics (Journal Article)

Artificial life, 22 (1), pp. 23–48, 2016, ISSN: 10645462.

(Links | BibTeX)

Books

G C H E de Croon; Mustafa Percin; B D W Remes; Rick Ruijsink; C De Wagter

The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot (Book)

Springer Netherlands, 2016, ISBN: 978-94-017-9207-3.

(Links | BibTeX)

Incollections

Kirk Y W Scheper; Guido C H E de Croon

Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics (Incollection)

Tuci, Elio; Giagkos, Alexandros; Wilson, Myra; Hallam, John (Ed.): From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, pp. 280–292, Springer International Publishing, Aberystwyth University, Wales, UK, 2016, ISSN: 00237205.

(Links | BibTeX)

Kirk Y W Scheper; Guido C H E de Croon

Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics (Incollection)

Tuci, Elio; Giagkos, Alexandros; Wilson, Myra; Hallam, John (Ed.): From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, pp. 280–292, Springer International Publishing, Aberystwyth University, Wales, UK, 2016, ISSN: 00237205.

(Links | BibTeX)

Inproceedings

Ewoud J J Smeur; G C H E de de Croon; Qiping Chu

Gust disturbance alleviation with Incremental Nonlinear Dynamic Inversion (Inproceedings)

International Conference on Intelligent Robots and Systems (IROS), pp. 5626-5631, IEEE/RSJ 2016.

(Links | BibTeX)

K McGuire; G de Croon; C de Wagter; B Remes; K Tuyls; H Kappen

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

2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3255-3260, 2016.

(Links | BibTeX)

Kevin Lamers; Sjoerd Tijmons; Christophe De Wagter; Guido de Croon

Self-supervised monocular distance learning on a lightweight micro air vehicle (Inproceedings)

Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pp. 1779–1784, IEEE 2016.

(BibTeX)

S F Armanini; J V Caetano; C C de Visser; G C H E de Croon; M Mulder

Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches (Inproceedings)

AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–15, 2016.

(BibTeX)

S F Armanini; C C a de Visser; G C H E de Croon; M Mulder

A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Inproceedings)

AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–19, 2016.

(BibTeX)

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

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

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

(BibTeX)

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

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

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

(BibTeX)

S F Armanini; J V Caetano; C C de Visser; G C H E de Croon; M Mulder

Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches (Inproceedings)

AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–15, 2016.

(BibTeX)

S F Armanini; C C a de Visser; G C H E de Croon; M Mulder

A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Inproceedings)

AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–19, 2016.

(BibTeX)

Masters Theses

Y S Janssen

Reinforcement Learning Policy Approximation by Behavior Trees (Masters Thesis)

Delft University of Technology, 2016.

(Links | BibTeX)

K Lamers

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

Delft University of Technology, 2016.

(Links | BibTeX)

2015

Journal Articles

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)

International Journal of Micro Air Vehicles, 7 (4), 2015, ISBN: 10.1260/1756-8293.7.4.407.

(Abstract | Links | BibTeX)

S F Armanini; C C de Visser; G C H E de Croon; M Mulder

Time-varying model identification of flapping-wing micro aerial vehicle dynamics using flight data (Journal Article)

Journal of Guidance, Control, and Dynamics, 39 (3), 2015.

(BibTeX)

W B Tay; S Deng; B W van Oudheusden; H Bijl

Validation of immersed boundary method for the numerical simulation of flapping wing flight (Journal Article)

Computers & Fluids, 115 , pp. 226-242, 2015.

(BibTeX)

W B Tay; B W van Oudheusden; H Bijl

Numerical simulation of a flapping four-wing micro-aerial vehicle (Journal Article)

Journal of Fluids and Structures, 55 , pp. 237-261, 2015.

(BibTeX)

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)

Bioinspiration & biomimetics, 10 (5), pp. 056004, 2015.

(BibTeX)

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)

Journal of Guidance, Control, and Dynamics, 38 (12), pp. 2257–2269, 2015.

(BibTeX)

Inproceedings

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 (Inproceedings)

2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5846–5851, IEEE, 2015.

(BibTeX)

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 (Inproceedings)

Int. conf. on Intelligent Unmanned Systems (ICIUS), Bali, Indonesia, 2015.

(BibTeX)

Sophie F Armanini; C C de Visser; G C H E de Croon

Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics (Inproceedings)

AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2015, ISBN: 978-1-62410-340-7.

(Links | BibTeX)

Masters Theses

T Szabo

Autononomous Collision Avoidance for Swarms of MAVs Based solely on RSSI measurements (Masters Thesis)

Delft University of Technology, 2015.

(Links | BibTeX)

M Paz Gomes Verdugo

Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing (Masters Thesis)

Delft University of Technology, 2015.

(BibTeX)

2014

Journal Articles

W B Tay; B W van Oudheusden; H Bijl

Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method. (Journal Article)

Bioinspiration & biomimetics, 9 (3), pp. 036001, 2014.

(Abstract | Links | BibTeX)

C De Wagter; S Tijmons; B D W Remes; G C H E de Croon

Autonomous Flight of a 20-gram Flapping Wing MAV with a 4-gram Onboard Stereo Vision System (Journal Article)

IEEE International Conference on Robotics & Automation (ICRA), pp. 4982–4987, 2014, ISSN: 10504729.

(Abstract | Links | BibTeX)

M Percin; BW van Oudheusden; HE Eisma; BDW Remes

Three-dimensional vortex wake structure of a flapping-wing micro aerial vehicle in forward flight configuration (Journal Article)

Experiments in Fluids, 55 (9), pp. 1–16, 2014.

(BibTeX)

Shuanghou Deng; Mustafa Percin; Bas van Oudheusden; Bart Remes; Hester Bijl

Experimental investigation on the aerodynamics of a bio-inspired flexible flapping wing micro air vehicle (Journal Article)

International Journal of Micro Air Vehicles, 6 (2), pp. 105–115, 2014.

(BibTeX)

TA Noyon; WB Tay; BW Van Oudheusden; H Bijl

Effect of chordwise deformation on unsteady aerodynamic mechanisms in hovering flapping flight (Journal Article)

International Journal of Micro Air Vehicles, 6 (4), pp. 265–277, 2014.

(BibTeX)

W B Tay; Van B W Oudheusden; H Bijl

Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method (Journal Article)

Bioinspiration & Biomimetics, 9 (3), pp. 36001, 2014, ISSN: 1748-3190.

(Abstract | BibTeX)

J V Caetano; M Percin; C C de Visser; B Van Oudheusden; G C H E de Croon; C De Wagter; B D W Remes; M Mulder

Tethered vs. free flight force determination of the delfly II flapping wing micro air vehicle (Journal Article)

2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings, pp. 942–948, 2014, ISBN: 9781479923762.

(Abstract | Links | BibTeX)

T Gillebaart; WB Tay; AH van Zuijlen; H Bijl

A modified ALE method for fluid flows around bodies moving in close proximity (Journal Article)

Computers & Structures, 145 , pp. 1–11, 2014.

(BibTeX)

Inproceedings

S F Armanini; J L Verboom; G C H E de Croon; C C de Visser

Determination of trim curves for a flapping-wing MAV (Inproceedings)

IMAV 2014: International Micro Air Vehicle Conference and Competition 2014, Delft, The Netherlands, August 12-15, 2014, pp. 212–217, Delft University of Technology, Delft, 2014.

(Abstract | Links | BibTeX)

E J J Smeur; Q P Chu; G C H E de Croon; B Remes; C De Wagter; E van der Horst

Modelling of a Hybrid UAV Using Test Flight Data (Inproceedings)

pp. 196–203, Delft, 2014.

(Links | BibTeX)

J V Caetano; M Percin; C C de Visser; B van Oudheusden; G C H E de Croon; C De Wagter; B D W Remes; M Mulder

Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle (Inproceedings)

2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 942–948, IEEE, 2014, ISBN: 978-1-4799-2376-2.

(Abstract | Links | BibTeX)

J V Caetano; M Percin; C C de Visser; B van Oudheusden; G C H E de Croon; C De Wagter; B D W Remes; M Mulder

Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle (Inproceedings)

2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 942–948, IEEE, 2014, ISBN: 978-1-4799-2376-2.

(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 (Inproceedings)

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 (Inproceedings)

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

(Abstract | BibTeX)

Masters Theses

Kirk Y W Scheper

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

Delft University of Technology, 2014.

(Links | BibTeX)

2013

Journal Articles

J Caetano; C C de Visser; G C H E de Croon; B D W Remes; C De Wagter; J Verboom; M Mulder

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

International Journal of Micro Air Vehicles, 5 (4), pp. 273–286, 2013, ISSN: 1756-8293.

(Abstract | Links | BibTeX)

WB Tay; H Bijl; BW van Oudheusden

Biplane and tail effects in flapping flight (Journal Article)

AIAA journal, 51 (9), pp. 2133–2146, 2013.

(BibTeX)

J V Caetano; J Verboom; C C De Visser; G C H E De Croon; B D W Remes; C De Wagter; M Mulder

Near-hover flapping wing mav aerodynamic modelling -- A linear model approach (Journal Article)

International Journal of Micro Air Vehicles, 5 (4), 2013.

(BibTeX)

Incollections

Christophe De Wagter; Andries Koopmans; Guido C H E de Croon; Bart Remes; Rick Ruijsink

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

Advances in Aerospace Guidance, Navigation and Control, pp. 603–621, Springer, Berlin, DE, 2013.

(BibTeX)

117 entries « 2 of 3 »