2024
|
Miscellaneous
|
Hang Yu; Christophe De Wagter; Guido C. H. E Croon MAVRL: Learn to Fly in Cluttered Environments with Varying Speed (Miscellaneous) 2024. @misc{2402.08381,
title = {MAVRL: Learn to Fly in Cluttered Environments with Varying Speed},
author = {Hang Yu and Christophe De Wagter and Guido C. H. E Croon},
url = {https://arxiv.org/abs/2402.08381},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Marija Popovic; Joshua Ott; Julius Rückin; Mykel J. Kochendorfer Robotic Learning for Adaptive Informative Path Planning (Miscellaneous) 2024. @misc{2404.06940,
title = {Robotic Learning for Adaptive Informative Path Planning},
author = {Marija Popovic and Joshua Ott and Julius Rückin and Mykel J. Kochendorfer},
url = {https://arxiv.org/abs/2404.06940},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Sicong Pan; Liren Jin; Xuying Huang; Cyrill Stachniss; Marija Popović; Maren Bennewitz Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning (Miscellaneous) 2024. @misc{2403.16803,
title = {Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning},
author = {Sicong Pan and Liren Jin and Xuying Huang and Cyrill Stachniss and Marija Popović and Maren Bennewitz},
url = {https://arxiv.org/abs/2403.16803},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Liren Jin; Haofei Kuang; Yue Pan; Cyrill Stachniss; Marija Popović STAIR: Semantic-Targeted Active Implicit Reconstruction (Miscellaneous) 2024. @misc{2403.11233,
title = {STAIR: Semantic-Targeted Active Implicit Reconstruction},
author = {Liren Jin and Haofei Kuang and Yue Pan and Cyrill Stachniss and Marija Popović},
url = {https://arxiv.org/abs/2403.11233},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Apoorva Vashisth; Julius Rückin; Federico Magistri; Cyrill Stachniss; Marija Popović Deep Reinforcement Learning with Dynamic Graphs for Adaptive Informative Path Planning (Miscellaneous) 2024. @misc{2402.04894,
title = {Deep Reinforcement Learning with Dynamic Graphs for Adaptive Informative Path Planning},
author = {Apoorva Vashisth and Julius Rückin and Federico Magistri and Cyrill Stachniss and Marija Popović},
url = {https://arxiv.org/abs/2402.04894},
year = {2024},
date = {2024-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Online
|
Till Blaha; Ewoud J. J. Smeur; Bart D. W. Remes Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller (Online) 2024, visited: 05.09.2024. @online{blaha_flight_data_2024,
title = {Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller},
author = {Till Blaha and Ewoud J. J. Smeur and Bart D. W. Remes},
url = {https://data.4tu.nl/datasets/0530be90-cc6c-4029-9774-670657882906},
doi = {10.4121/0530be90-cc6c-4029-9774-670657882906},
year = {2024},
date = {2024-09-05},
urldate = {2024-09-05},
howpublished = {4TU.ResearchData},
keywords = {},
pubstate = {published},
tppubtype = {online}
}
|
PhD Theses
|
Tom Dijk Visual Navigation for Tiny Drones (PhD Thesis) Delft University of Technology, 2024, ISBN: 978-94-6384-675-2. @phdthesis{322d4c2e37b04d3da73955b9905987c4,
title = {Visual Navigation for Tiny Drones},
author = {Tom Dijk},
url = {https://research.tudelft.nl/en/publications/visual-navigation-for-tiny-drones},
doi = {10.4233/uuid:322d4c2e-37b0-4d3d-a739-55b9905987c4},
isbn = {978-94-6384-675-2},
year = {2024},
date = {2024-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
Unpublished
|
T. M. Blaha; E. J. J. Smeur; B. D. W. Remes
Control of Unknown Quadrotors from a Single Throw (Unpublished) arXiv:2406.11723, 2024. @unpublished{blaha_control_2024,
title = {Control of Unknown Quadrotors from a Single Throw},
author = {T. M. Blaha and E. J. J. Smeur and B. D. W. Remes
},
doi = {10.48550/arXiv.2406.11723},
year = {2024},
date = {2024-01-01},
urldate = {2024-01-01},
howpublished = {arXiv:2406.11723},
keywords = {},
pubstate = {published},
tppubtype = {unpublished}
}
|
T. M. Blaha; E. J. J. Smeur; B. D. W. Remes; C. C. de Visser Flying a Quadrotor with Unknown Actuators and Sensor Configuration (Unpublished) 2024. @unpublished{blaha_flying_2024,
title = {Flying a Quadrotor with Unknown Actuators and Sensor Configuration},
author = {T. M. Blaha and E. J. J. Smeur and B. D. W. Remes and C. C. de Visser},
doi = {10.48550/arXiv.2409.01080},
year = {2024},
date = {2024-01-01},
urldate = {2024-01-01},
booktitle = {Proceedings - International Micro Air Vehicle Conference, IMAV 2024},
publisher = {IMAV},
address = {Bristol},
keywords = {},
pubstate = {published},
tppubtype = {unpublished}
}
|
2023
|
Journal Articles
|
G.C.H.E. de Croon Drone-racing champions outpaced by AI (Journal Article) In: Nature, vol. 620, pp. 952-954, 2023, ISBN: 0028-0836. @article{drone_racing_nature_news,
title = {Drone-racing champions outpaced by AI},
author = {G.C.H.E. de Croon},
url = {https://www.nature.com/articles/d41586-023-02506-8},
doi = {10.1038/d41586-023-02506-8},
isbn = {0028-0836},
year = {2023},
date = {2023-08-30},
urldate = {2023-08-30},
journal = {Nature},
volume = {620},
pages = {952-954},
abstract = {An autonomous drone has competed against human drone-racing champions — and won. The victory can be attributed to savvy engineering and a type of artificial intelligence that learns mostly through trial and error.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
An autonomous drone has competed against human drone-racing champions — and won. The victory can be attributed to savvy engineering and a type of artificial intelligence that learns mostly through trial and error. |
Guido C. H. E. Croon Drone-racing champions outpaced by AI (Journal Article) In: Nature, vol. 620, no. 7976, pp. 952–954, 2023, ISSN: 0028-0836, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.). @article{e9309de882e8426685a02436a0e40190,
title = {Drone-racing champions outpaced by AI},
author = {Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/drone-racing-champions-outpaced-by-ai},
doi = {10.1038/d41586-023-02506-8},
issn = {0028-0836},
year = {2023},
date = {2023-01-01},
journal = {Nature},
volume = {620},
number = {7976},
pages = {952–954},
publisher = {Nature},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Cheng Liu; Yingfu Xu; Erik Jan Kampen; Guido Croon Nano Quadcopter Obstacle Avoidance with a Lightweight Monocular Depth Network (Journal Article) In: IFAC-PapersOnLine, vol. 56, no. 2, pp. 9312–9317, 2023, ISSN: 2405-8963, (22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023). @article{8939194787f34d19846218a767667b53,
title = {Nano Quadcopter Obstacle Avoidance with a Lightweight Monocular Depth Network},
author = {Cheng Liu and Yingfu Xu and Erik Jan Kampen and Guido Croon},
url = {https://research.tudelft.nl/en/publications/nano-quadcopter-obstacle-avoidance-with-a-lightweight-monocular-d},
doi = {10.1016/j.ifacol.2023.10.217},
issn = {2405-8963},
year = {2023},
date = {2023-01-01},
journal = {IFAC-PapersOnLine},
volume = {56},
number = {2},
pages = {9312–9317},
publisher = {Elsevier},
note = {22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Andrew J. King; Steven J. Portugal; Daniel Strömbom; Richard P. Mann; José A. Carrillo; Dante Kalise; Guido Croon; Heather Barnett; Paul Scerri; More Authors Biologically inspired herding of animal groups by robots (Journal Article) In: Methods in Ecology and Evolution, vol. 14, no. 2, pp. 478–486, 2023, ISSN: 2041-210X. @article{ee1fa5db82ce49cca721188a0dd6c194,
title = {Biologically inspired herding of animal groups by robots},
author = {Andrew J. King and Steven J. Portugal and Daniel Strömbom and Richard P. Mann and José A. Carrillo and Dante Kalise and Guido Croon and Heather Barnett and Paul Scerri and More Authors},
url = {https://research.tudelft.nl/en/publications/biologically-inspired-herding-of-animal-groups-by-robots},
doi = {10.1111/2041-210X.14049},
issn = {2041-210X},
year = {2023},
date = {2023-01-01},
journal = {Methods in Ecology and Evolution},
volume = {14},
number = {2},
pages = {478–486},
publisher = {John Wiley & Sons},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Rasmus Steffensen; Agnes Steinert; E. J. J. Smeur Nonlinear Dynamic Inversion with Actuator Dynamics: An Incremental Control Perspective (Journal Article) In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 46, no. 4, pp. 709–717, 2023, ISSN: 0731-5090. @article{5a4287a80ab94c0f880c345ca5000c2d,
title = {Nonlinear Dynamic Inversion with Actuator Dynamics: An Incremental Control Perspective},
author = {Rasmus Steffensen and Agnes Steinert and E. J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/nonlinear-dynamic-inversion-with-actuator-dynamics-an-incremental},
doi = {10.2514/1.G007079},
issn = {0731-5090},
year = {2023},
date = {2023-01-01},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
volume = {46},
number = {4},
pages = {709–717},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
A. Altena; J. J. Beers; C. C. Visser Loss-of-Control Prediction of a Quadcopter Using Recurrent Neural Networks (Journal Article) In: Journal of Aerospace Information Systems (online), vol. 20, no. 10, pp. 648–659, 2023, ISSN: 2327-3097, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.). @article{3051e4a556844d69a3a5bf1109298635,
title = {Loss-of-Control Prediction of a Quadcopter Using Recurrent Neural Networks},
author = {A. Altena and J. J. Beers and C. C. Visser},
url = {https://research.tudelft.nl/en/publications/loss-of-control-prediction-of-a-quadcopter-using-recurrent-neural},
doi = {10.2514/1.I011231},
issn = {2327-3097},
year = {2023},
date = {2023-01-01},
journal = {Journal of Aerospace Information Systems (online)},
volume = {20},
number = {10},
pages = {648–659},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Alessandro Mancinelli; Bart D. W. Remes; Guido C. H. E. De Croon; Ewoud J. J. Smeur Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation (Journal Article) In: Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 108, no. 4, 2023, ISSN: 0921-0296. @article{a3ef568eb7134c79b73d83a48fc18145,
title = {Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation},
author = {Alessandro Mancinelli and Bart D. W. Remes and Guido C. H. E. De Croon and Ewoud J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/real-time-nonlinear-control-allocation-framework-for-vehicles-wit},
doi = {10.1007/s10846-023-01865-8},
issn = {0921-0296},
year = {2023},
date = {2023-01-01},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
volume = {108},
number = {4},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
T. M. Blaha; E. J. J. Smeur; B. D. W. Remes A Survey of Optimal Control Allocation for Aerial Vehicle Control (Journal Article) In: Actuators, vol. 12, no. 7, 2023, ISSN: 2076-0825. @article{3ac44b4fe76a4c5388e3a007df9df587,
title = {A Survey of Optimal Control Allocation for Aerial Vehicle Control},
author = {T. M. Blaha and E. J. J. Smeur and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/a-survey-of-optimal-control-allocation-for-aerial-vehicle-control},
doi = {10.3390/act12070282},
issn = {2076-0825},
year = {2023},
date = {2023-01-01},
journal = {Actuators},
volume = {12},
number = {7},
publisher = {MDPI},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Christina Harvey; G. C. H. E. Croon; Graham K. Taylor; Richard J. Bomphrey Lessons from natural flight for aviation: then, now and tomorrow (Journal Article) In: The Journal of Experimental Biology, vol. 226, no. 1, 2023, ISSN: 0022-0949. @article{225489f0eb0b4c599f97b3ce63aac365,
title = {Lessons from natural flight for aviation: then, now and tomorrow},
author = {Christina Harvey and G. C. H. E. Croon and Graham K. Taylor and Richard J. Bomphrey},
url = {https://research.tudelft.nl/en/publications/lessons-from-natural-flight-for-aviation-then-now-and-tomorrow},
doi = {10.1242/jeb.245409},
issn = {0022-0949},
year = {2023},
date = {2023-01-01},
journal = {The Journal of Experimental Biology},
volume = {226},
number = {1},
publisher = {Company of Biologists Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
M. K. Makaveev; M. Snellen; E. J. J. Smeur Microphones as Airspeed Sensors for Unmanned Aerial Vehicles (Journal Article) In: Sensors, vol. 23, no. 5, 2023, ISSN: 1424-8220. @article{626768d7b4ef47a9bb9810e449320f2e,
title = {Microphones as Airspeed Sensors for Unmanned Aerial Vehicles},
author = {M. K. Makaveev and M. Snellen and E. J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/microphones-as-airspeed-sensors-for-unmanned-aerial-vehicles},
doi = {10.3390/s23052463},
issn = {1424-8220},
year = {2023},
date = {2023-01-01},
journal = {Sensors},
volume = {23},
number = {5},
publisher = {MDPI},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
G. C. H. E. Croon; W. Hönig; G. Theraulaz; G. Vásárhelyi Cross-disciplinary approaches for designing intelligent swarms of drones (Journal Article) In: Swarm Intelligence, vol. 17, no. 1-2, pp. 1–4, 2023, ISSN: 1935-3812, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.). @article{22345640e6c24a69b8cf85eedc8c3cad,
title = {Cross-disciplinary approaches for designing intelligent swarms of drones},
author = {G. C. H. E. Croon and W. Hönig and G. Theraulaz and G. Vásárhelyi},
url = {https://research.tudelft.nl/en/publications/cross-disciplinary-approaches-for-designing-intelligent-swarms-of},
doi = {10.1007/s11721-023-00223-6},
issn = {1935-3812},
year = {2023},
date = {2023-01-01},
journal = {Swarm Intelligence},
volume = {17},
number = {1-2},
pages = {1–4},
publisher = {Springer},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Jane Pauline Ramirez; Salua Hamaza Multimodal Locomotion: Next Generation Aerial–Terrestrial Mobile Robotics (Journal Article) In: Advanced Intelligent Systems, 2023, ISSN: 2640-4567, (Funding Information: This research is funded by the Delft University of Technology. Publisher Copyright: © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.). @article{9fb07c9259344be2a566ab9911723fc3,
title = {Multimodal Locomotion: Next Generation Aerial–Terrestrial Mobile Robotics},
author = {Jane Pauline Ramirez and Salua Hamaza},
url = {https://research.tudelft.nl/en/publications/multimodal-locomotion-next-generation-aerialterrestrial-mobile-ro},
doi = {10.1002/aisy.202300327},
issn = {2640-4567},
year = {2023},
date = {2023-01-01},
journal = {Advanced Intelligent Systems},
publisher = {Wiley},
note = {Funding Information: This research is funded by the Delft University of Technology. Publisher Copyright: © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Barbara Dix; Meng Li; Esther Roosenbrand; Colby Francoeur; Steven S. Brown; Jessica B. Gilman; Thomas F. Hanisco; J. Pepijn Veefkind; Pieternel F. Levelt; More Authors Sources of Formaldehyde in U.S. Oil and Gas Production Regions (Journal Article) In: ACS Earth and Space Chemistry, vol. 7, no. 12, pp. 2444–2457, 2023, ISSN: 2472-3452, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.). @article{c7d3fcef0a4a4c27b0df42dc4f7e6037,
title = {Sources of Formaldehyde in U.S. Oil and Gas Production Regions},
author = {Barbara Dix and Meng Li and Esther Roosenbrand and Colby Francoeur and Steven S. Brown and Jessica B. Gilman and Thomas F. Hanisco and J. Pepijn Veefkind and Pieternel F. Levelt and More Authors},
url = {https://research.tudelft.nl/en/publications/sources-of-formaldehyde-in-us-oil-and-gas-production-regions},
doi = {10.1021/acsearthspacechem.3c00203},
issn = {2472-3452},
year = {2023},
date = {2023-01-01},
journal = {ACS Earth and Space Chemistry},
volume = {7},
number = {12},
pages = {2444–2457},
publisher = {American Chemical Society (ACS)},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S. Schröter; E. J. J. Smeur; B. D. W. Remes Design and Joint Control of a Conjoined Biplane and Quadrotor (Journal Article) In: Unmanned Systems, 2023, ISSN: 2301-3850. @article{25b011785cc942d1a7f9ec798d99b656,
title = {Design and Joint Control of a Conjoined Biplane and Quadrotor},
author = {S. Schröter and E. J. J. Smeur and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2},
doi = {10.1142/S2301385024430039},
issn = {2301-3850},
year = {2023},
date = {2023-01-01},
journal = {Unmanned Systems},
publisher = {World Scientific Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
E. J. J. Smeur; G. C. H. E. Croon; Q. Chu Corrigendum to “Cascaded incremental nonlinear dynamic inversion control for MAV disturbance rejection”[Journal of Control Engineering Practice 73 (2018) 79–90, (S0967066118300030), (10.1016/j.conengprac.2018.01.003)] (Journal Article) In: Control Engineering Practice, vol. 141, 2023, ISSN: 0967-0661. @article{49b721f7bfbb45c59d9a4cf9e938fe4c,
title = {Corrigendum to “Cascaded incremental nonlinear dynamic inversion control for MAV disturbance rejection”[Journal of Control Engineering Practice 73 (2018) 79–90, (S0967066118300030), (10.1016/j.conengprac.2018.01.003)]},
author = {E. J. J. Smeur and G. C. H. E. Croon and Q. Chu},
url = {https://research.tudelft.nl/en/publications/corrigendum-to-cascaded-incremental-nonlinear-dynamic-inversion-c},
doi = {10.1016/j.conengprac.2022.105093},
issn = {0967-0661},
year = {2023},
date = {2023-01-01},
journal = {Control Engineering Practice},
volume = {141},
publisher = {Elsevier},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Books
|
Stephen Pringle; Zoe G. Davies; Mark A. Goddard; Martin Dallimer; Emma Hart; Léni E. Le Goff; Simon J. Langdale; Sara-Adela Abad; S. Hamaza; More Authors Robotics and Autonomous Systems for Environmental Sustainability: Monitoring Terrestrial Biodiversity (Book) EPSRC UK-RAS Network, 2023. @book{808e66196aee41a6953d254d0c537f8f,
title = {Robotics and Autonomous Systems for Environmental Sustainability: Monitoring Terrestrial Biodiversity},
author = {Stephen Pringle and Zoe G. Davies and Mark A. Goddard and Martin Dallimer and Emma Hart and Léni E. Le Goff and Simon J. Langdale and Sara-Adela Abad and S. Hamaza and More Authors},
url = {https://research.tudelft.nl/en/publications/robotics-and-autonomous-systems-for-environmental-sustainability-},
doi = {10.31256/WP2023.4},
year = {2023},
date = {2023-01-01},
publisher = {EPSRC UK-RAS Network},
series = {UK-RAS White paper Series on Robotics and Autonomous Systems (RAS)},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Conferences
|
J. P. R Ramirez; A. Bredenbeck; S. Hamaza Bioinspired Compliant Limbs For Robust Landing Of Free-Flying Robots (Conference) 17th Symposium on Advanced Space Technologies in Robotics and Automation, ESA/ESTEC, 2023, (17th Symposium on Advanced Space Technologies in Robotics and Automation , ASTRA 2023 ; Conference date: 18-10-2023 Through 20-10-2023). @conference{9579553c9c0940e582ce18bdc4c3bac4,
title = {Bioinspired Compliant Limbs For Robust Landing Of Free-Flying Robots},
author = {J. P. R Ramirez and A. Bredenbeck and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/bioinspired-compliant-limbs-for-robust-landing-of-free-flying-rob},
year = {2023},
date = {2023-01-01},
booktitle = {17th Symposium on Advanced Space Technologies in Robotics and Automation},
publisher = {ESA/ESTEC},
note = {17th Symposium on Advanced Space Technologies in Robotics and Automation , ASTRA 2023 ; Conference date: 18-10-2023 Through 20-10-2023},
keywords = {},
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Proceedings Articles
|
Federico Paredes-Vallés; Kirk Y. W. Scheper; Christope De Wagter; Guido C. H. E. De Croon Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flow (Proceedings Article) In: Proceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023, pp. 9661–9671, IEEE, United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 ; Conference date: 02-10-2023 Through 06-10-2023). @inproceedings{fbeb5c823153469baa4a8cf32bb00099,
title = {Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flow},
author = {Federico Paredes-Vallés and Kirk Y. W. Scheper and Christope De Wagter and Guido C. H. E. De Croon},
url = {https://research.tudelft.nl/en/publications/taming-contrast-maximization-for-learning-sequential-low-latency-},
doi = {10.1109/ICCV51070.2023.00889},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023},
pages = {9661–9671},
publisher = {IEEE},
address = {United States},
series = {Proceedings of the IEEE International Conference on Computer Vision},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 ; Conference date: 02-10-2023 Through 06-10-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
W. J. E. Völker; Y. Li; E. Kampen Twin-Delayed Deep Deterministic Policy Gradient for altitude control of a flying-wing aircraft with an uncertain aerodynamic model (Proceedings Article) In: AIAA SciTech Forum 2023, 2023, (AIAA SCITECH 2023 Forum ; Conference date: 23-01-2023 Through 27-01-2023). @inproceedings{9986a064454849c984e3794c73888ea5,
title = {Twin-Delayed Deep Deterministic Policy Gradient for altitude control of a flying-wing aircraft with an uncertain aerodynamic model},
author = {W. J. E. Völker and Y. Li and E. Kampen},
url = {https://research.tudelft.nl/en/publications/twin-delayed-deep-deterministic-policy-gradient-for-altitude-cont},
doi = {10.2514/6.2023-2678},
year = {2023},
date = {2023-01-01},
booktitle = {AIAA SciTech Forum 2023},
note = {AIAA SCITECH 2023 Forum ; Conference date: 23-01-2023 Through 27-01-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kartik Suryavanshi; S. Hamaza; V. Wijk; J. L. Herder ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications (Proceedings Article) In: Proceedings IEEE International Conference on Robotics and Automation, ICRA 2023, pp. 11936–11942, IEEE, United States, 2023, ISBN: 979-8-3503-2365-8, (Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; ICRA 2023: International Conference on Robotics and Automation ; Conference date: 29-05-2023 Through 02-06-2023). @inproceedings{7ad2db50f9d14b86aa3f42b3170cbb89,
title = {ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications},
author = {Kartik Suryavanshi and S. Hamaza and V. Wijk and J. L. Herder},
url = {https://research.tudelft.nl/en/publications/adapt-a-3-degrees-of-freedom-reconfigurable-force-balanced-parall},
doi = {10.1109/ICRA48891.2023.10160451},
isbn = {979-8-3503-2365-8},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings IEEE International Conference on Robotics and Automation, ICRA 2023},
pages = {11936–11942},
publisher = {IEEE},
address = {United States},
note = {Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; ICRA 2023: International Conference on Robotics and Automation ; Conference date: 29-05-2023 Through 02-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Anique Altena; Salil Luesutthiviboon; Guido Croon; Mirjam Snellen; Mark Voskuijl Comparison of acoustic localisation techniques for drone position estimation using real-world experimental data (Proceedings Article) In: Carletti, Eleonora (Ed.): Proceedings of the 29th International Congress on Sound and Vibration, ICSV 2023, Society of Acoustics, 2023, (29th International Congress on Sound and Vibration, ICSV 2023 : The annual congress of the International Institute of Acoustics and Vibrations (IIAV), ICSV 2023 ; Conference date: 09-07-2023 Through 13-07-2023). @inproceedings{5bee61754c1041e0bf5c60bb9d9c6640,
title = {Comparison of acoustic localisation techniques for drone position estimation using real-world experimental data},
author = {Anique Altena and Salil Luesutthiviboon and Guido Croon and Mirjam Snellen and Mark Voskuijl},
editor = {Eleonora Carletti},
url = {https://research.tudelft.nl/en/publications/comparison-of-acoustic-localisation-techniques-for-drone-position},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings of the 29th International Congress on Sound and Vibration, ICSV 2023},
publisher = {Society of Acoustics},
series = {Proceedings of the International Congress on Sound and Vibration},
note = {29th International Congress on Sound and Vibration, ICSV 2023 : The annual congress of the International Institute of Acoustics and Vibrations (IIAV), ICSV 2023 ; Conference date: 09-07-2023 Through 13-07-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Cheng Liu; Erik Jan Van Kampen; Guido C. H. E. De Croon Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning (Proceedings Article) In: Proceedings - ICRA 2023, pp. 7198–7204, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023). @inproceedings{f53b6aea479944049cbfdcf6d5a85242,
title = {Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning},
author = {Cheng Liu and Erik Jan Van Kampen and Guido C. H. E. De Croon},
url = {https://research.tudelft.nl/en/publications/adaptive-risk-tendency-nano-drone-navigation-in-cluttered-environ},
doi = {10.1109/ICRA48891.2023.10160324},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {7198–7204},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Rik J. Bouwmeester; Federico Paredes-Valles; Guido C. H. E. De Croon NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter (Proceedings Article) In: Proceedings - ICRA 2023, pp. 1996–2003, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023). @inproceedings{334f5d9a68de4ae9951aa8fd40c78215,
title = {NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter},
author = {Rik J. Bouwmeester and Federico Paredes-Valles and Guido C. H. E. De Croon},
url = {https://research.tudelft.nl/en/publications/nanoflownet-real-time-dense-optical-flow-on-a-nano-quadcopter},
doi = {10.1109/ICRA48891.2023.10161258},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {1996–2003},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Tom Suys; Sunyou Hwang; Guido C. H. E. De Croon; Bart D. W. Remes Autonomous Control for Orographic Soaring of Fixed-Wing UAVs (Proceedings Article) In: Proceedings - ICRA 2023, pp. 5338–5344, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023). @inproceedings{415500ce291541629a377ea124756701,
title = {Autonomous Control for Orographic Soaring of Fixed-Wing UAVs},
author = {Tom Suys and Sunyou Hwang and Guido C. H. E. De Croon and Bart D. W. Remes},
url = {https://research.tudelft.nl/en/publications/autonomous-control-for-orographic-soaring-of-fixed-wing-uavs},
doi = {10.1109/ICRA48891.2023.10161578},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {5338–5344},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Hang Yu; Guido C. H. E. De Croon; Christophe De Wagter AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors (Proceedings Article) In: Proceedings - ICRA 2023, pp. 9183–9189, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023). @inproceedings{75c3f28dc3b04b29b1a55dee7e293c6c,
title = {AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors},
author = {Hang Yu and Guido C. H. E. De Croon and Christophe De Wagter},
url = {https://research.tudelft.nl/en/publications/avoidbench-a-high-fidelity-vision-based-obstacle-avoidance-benchm},
doi = {10.1109/ICRA48891.2023.10161097},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
booktitle = {Proceedings - ICRA 2023},
pages = {9183–9189},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {Proceedings - IEEE International Conference on Robotics and Automation},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Gervase H. L. H. Lovell-Prescod; Ziqing Ma; Ewoud J. J. Smeur Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control (Proceedings Article) In: 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, pp. 842–849, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023). @inproceedings{a88cfd41042941a8b45884b15e533e37,
title = {Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control},
author = {Gervase H. L. H. Lovell-Prescod and Ziqing Ma and Ewoud J. J. Smeur},
url = {https://research.tudelft.nl/en/publications/attitude-control-of-a-tilt-rotor-tailsitter-micro-air-vehicle-usi},
doi = {10.1109/ICUAS57906.2023.10156272},
year = {2023},
date = {2023-01-01},
booktitle = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
pages = {842–849},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023},
keywords = {},
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T. M. L. De Ponti; E. J. J. Smeur; B. W. D. Remes Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane (Proceedings Article) In: 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, pp. 241–248, Institute of Electrical and Electronics Engineers (IEEE), United States, 2023, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023). @inproceedings{50cd2bc361cb4e898f01eceee9d0ce3e,
title = {Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane},
author = {T. M. L. De Ponti and E. J. J. Smeur and B. W. D. Remes},
url = {https://research.tudelft.nl/en/publications/incremental-nonlinear-dynamic-inversion-controller-for-a-variable},
doi = {10.1109/ICUAS57906.2023.10156289},
year = {2023},
date = {2023-01-01},
booktitle = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
pages = {241–248},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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Y. Li; E. Kampen Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration (Proceedings Article) In: 2023 IEEE International Conference on Mechatronics, 2023, ISBN: 978-1-6654-6662-2, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Mechatronics (ICM), ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023). @inproceedings{ebf0380245084d5297f59cd586dab35d,
title = {Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration},
author = {Y. Li and E. Kampen},
url = {https://research.tudelft.nl/en/publications/adaptive-optimal-flight-control-for-a-fixed-wing-unmanned-aerial-},
doi = {10.1109/ICM54990.2023.10101984},
isbn = {978-1-6654-6662-2},
year = {2023},
date = {2023-01-01},
booktitle = {2023 IEEE International Conference on Mechatronics},
series = {Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023},
note = {Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 IEEE International Conference on Mechatronics (ICM), ICM 2023 ; Conference date: 15-03-2023 Through 17-03-2023},
keywords = {},
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|
Salil Luesutthiviboon; Guido C. H. E. Croon; Anique V. N. Altena; Mirjam Snellen; Mark Voskuijl Bio-inspired enhancement for optical detection of drones using convolutional neural networks (Proceedings Article) In: Bouma, Henri; Dijk, Judith; Prabhu, Radhakrishna; Stokes, Robert J.; Yitzhaky, Yitzhak (Ed.): Artificial Intelligence for Security and Defence Applications, SPIE, United States, 2023, (Funding Information: This work is part of the “ACTION” [ACoustic detecTION of class I (< 25 kg) unmanned aircraft systems supported by optical sensors] project, funded by the Dutch Ministry of Defence. The authors also would like to thank Fredrik Svanström for answering questions regarding the dataset. ; Artificial Intelligence for Security and Defence Applications 2023 ; Conference date: 04-09-2023 Through 05-09-2023). @inproceedings{01ad41b1fd7048f99c61d1732fecebe7,
title = {Bio-inspired enhancement for optical detection of drones using convolutional neural networks},
author = {Salil Luesutthiviboon and Guido C. H. E. Croon and Anique V. N. Altena and Mirjam Snellen and Mark Voskuijl},
editor = {Henri Bouma and Judith Dijk and Radhakrishna Prabhu and Robert J. Stokes and Yitzhak Yitzhaky},
url = {https://research.tudelft.nl/en/publications/bio-inspired-enhancement-for-optical-detection-of-drones-using-co},
doi = {10.1117/12.2673788},
year = {2023},
date = {2023-01-01},
booktitle = {Artificial Intelligence for Security and Defence Applications},
publisher = {SPIE},
address = {United States},
series = {Proceedings of SPIE - The International Society for Optical Engineering},
note = {Funding Information: This work is part of the “ACTION” [ACoustic detecTION of class I (< 25 kg) unmanned aircraft systems supported by optical sensors] project, funded by the Dutch Ministry of Defence. The authors also would like to thank Fredrik Svanström for answering questions regarding the dataset. ; Artificial Intelligence for Security and Defence Applications 2023 ; Conference date: 04-09-2023 Through 05-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Y. Xu; G. C. H. E. Croon Efficient Model-Aided Visual-Inertial Ego-Motion Estimation for Multirotor MAVs (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 93–100, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{c07670f77ee44a18a0f0d3366d99ac8f,
title = {Efficient Model-Aided Visual-Inertial Ego-Motion Estimation for Multirotor MAVs},
author = {Y. Xu and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/efficient-model-aided-visual-inertial-ego-motion-estimation-for-m},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {93–100},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S. U. Pfeiffer; C. Wagter; G. C. H. E. Croon Improved Moving Horizon Estimation for Ultra-Wideband Localization on Small Drones (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 86–92, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{641858a730794a14b3240c96bc9b5135,
title = {Improved Moving Horizon Estimation for Ultra-Wideband Localization on Small Drones},
author = {S. U. Pfeiffer and C. Wagter and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/improved-moving-horizon-estimation-for-ultra-wideband-localizatio},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {86–92},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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|
R. S. Meester; Tom Dijk; C. Wagter; G. C. H. E. Croon Frustumbug: a 3D mapless stereo-vision-based bug algorithm for Micro Air Vehicles (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 73–85, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{825121c5b2c843acac522672d837bc3b,
title = {Frustumbug: a 3D mapless stereo-vision-based bug algorithm for Micro Air Vehicles},
author = {R. S. Meester and Tom Dijk and C. Wagter and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/frustumbug-a-3d-mapless-stereo-vision-based-bug-algorithm-for-mic},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {73–85},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Y. Xu; G. C. H. E. Croon A Lightweight Learning-based Visual-Inertial Odometry (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 65–72, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{8cbd0a44794046f59f9dec1c21dbd2f4,
title = {A Lightweight Learning-based Visual-Inertial Odometry},
author = {Y. Xu and G. C. H. E. Croon},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/a-lightweight-learning-based-visual-inertial-odometry},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {65–72},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Stein Stroobants; Christophe De Wagter; Guido De Croon Neuromorphic Control using Input-Weighted Threshold Adaptation (Proceedings Article) In: ICONS 2023 - Proceedings of International Conference on Neuromorphic Systems 2023, Association for Computing Machinery (ACM), United States, 2023, (2023 International Conference on Neuromorphic Systems, ICONS 2023 ; Conference date: 01-08-2023 Through 03-08-2023). @inproceedings{ac4eb69e8c824ac8af6e7a02083f6a1c,
title = {Neuromorphic Control using Input-Weighted Threshold Adaptation},
author = {Stein Stroobants and Christophe De Wagter and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/neuromorphic-control-using-input-weighted-threshold-adaptation},
doi = {10.1145/3589737.3605963},
year = {2023},
date = {2023-01-01},
booktitle = {ICONS 2023 - Proceedings of International Conference on Neuromorphic Systems 2023},
publisher = {Association for Computing Machinery (ACM)},
address = {United States},
series = {ACM International Conference Proceeding Series},
note = {2023 International Conference on Neuromorphic Systems, ICONS 2023 ; Conference date: 01-08-2023 Through 03-08-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
A. Mancinelli; E. Horst; B. D. W. Remes; E. J. J. Smeur Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions (Proceedings Article) In: Moormann, D. (Ed.): 14th annual international micro air vehicle conference and competition, pp. 109–116, 2023, (14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023). @inproceedings{2cf15cba675345f38f241c4f06cc8b07,
title = {Autopilot framework with INDI RPM control, real-time actuator feedback, and stability control on companion computer through MATLAB generated functions},
author = {A. Mancinelli and E. Horst and B. D. W. Remes and E. J. J. Smeur},
editor = {D. Moormann},
url = {https://research.tudelft.nl/en/publications/autopilot-framework-with-indi-rpm-control-real-time-actuator-feed},
year = {2023},
date = {2023-01-01},
booktitle = {14th annual international micro air vehicle conference and competition},
pages = {109–116},
note = {14th anual International Micro Air Vehicle Conference and Competition, IMAV 2023 ; Conference date: 11-09-2023 Through 15-09-2023},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J. J. E. Laffita van den Hove d'Ertsenryck; E. J. J. Smeur; B. D. W. Remes Rigid Airborne docking between a fixed-wing UAV and an over-actuated multicopter (Proceedings Article) In: Proceedings of the 14th annual international micro air vehicle conference and competition, pp. 231–239, 2023. @inproceedings{706644d14f28482a8add65d7be4d4e68,
title = {Rigid Airborne docking between a fixed-wing UAV and an over-actuated multicopter},
author = {J. J. E. Laffita van den Hove d'Ertsenryck and E. J. J. Smeur and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/rigid-airborne-docking-between-a-fixed-wing-uav-and-an-over-actua},
year = {2023},
date = {2023-01-01},
booktitle = {Proceedings of the 14th annual international micro air vehicle conference and competition},
pages = {231–239},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
Momchil Makaveev Microphones as Airspeed Sensors for Micro Air Vehicles (Masters Thesis) TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:90916a92-95bc-44eb-889e-81555ddd494f,
title = {Microphones as Airspeed Sensors for Micro Air Vehicles},
author = {Momchil Makaveev},
url = {http://resolver.tudelft.nl/uuid:90916a92-95bc-44eb-889e-81555ddd494f},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {This project proposes and evaluates a novel concept for an airspeed instrument aimed at small hybrid unmanned aerial vehicles. The working principle is to relate the power spectra of the wall-pressure fluctuations beneath the turbulent boundary layer formed over the vehicle’s body to its airspeed. The instrument consists of two microphones, flush mounted on the UAV’s nose cone, that capture the pseudo-sound caused by the coherent turbulent structures, and a micro-controller that processes the signals from the microphones and computes the airspeed. Dedicated models were constructed, using data obtained from wind tunnel and flight experiments, that take the power spectra of the microphones’ signals as an input and provide the airspeed as an output. The model structure is a feed-forward neural network with a single hidden layer, trained using a second-order gradient descent algorithm, following a supervised learning approach. The models were validated using only flight data, with the best one achieving a mean approximation error of 0.043 m/s and having a standard deviation of 1.039 m/s. It was also shown that the airspeed could be successfully predicted for a wide range of angles of attack, given that they are known, thus necessitating the vehicle to be equipped with a dedicated angle of attack sensor.},
note = {Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This project proposes and evaluates a novel concept for an airspeed instrument aimed at small hybrid unmanned aerial vehicles. The working principle is to relate the power spectra of the wall-pressure fluctuations beneath the turbulent boundary layer formed over the vehicle’s body to its airspeed. The instrument consists of two microphones, flush mounted on the UAV’s nose cone, that capture the pseudo-sound caused by the coherent turbulent structures, and a micro-controller that processes the signals from the microphones and computes the airspeed. Dedicated models were constructed, using data obtained from wind tunnel and flight experiments, that take the power spectra of the microphones’ signals as an input and provide the airspeed as an output. The model structure is a feed-forward neural network with a single hidden layer, trained using a second-order gradient descent algorithm, following a supervised learning approach. The models were validated using only flight data, with the best one achieving a mean approximation error of 0.043 m/s and having a standard deviation of 1.039 m/s. It was also shown that the airspeed could be successfully predicted for a wide range of angles of attack, given that they are known, thus necessitating the vehicle to be equipped with a dedicated angle of attack sensor. |
Ruben Meester Frustumbug: a 3D Mapless Stereo-Vision-based Bug Algorithm for Micro Air Vehicles (Masters Thesis) TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Verhoeven, C.J.M. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:f5c8a6b4-a43b-43f1-9a2d-72d850515369,
title = {Frustumbug: a 3D Mapless Stereo-Vision-based Bug Algorithm for Micro Air Vehicles},
author = {Ruben Meester},
url = {http://resolver.tudelft.nl/uuid:f5c8a6b4-a43b-43f1-9a2d-72d850515369},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {We present a computationally cheap 3D bug algorithm for drones, using stereo vision. Obstacle avoidance is important, but difficult for robots with limited resources, such as drones. Stereo vision requires less weight and power than active distance measurement sensors, but typically has a limited Field of View (FoV). In addition, the stereo camera is fixed on the drone, preventing sensor movement. For obstacle avoidance, bug algorithms require few resources. We base our proposed algorithm, Frustumbug, on the Wedgebug algorithm, since this bug algorithm copes with a limited FoV. Since Wedgebug only focuses on 2D problems, the Local-epsilon-Tangent-Graph (LETG) is used to extend the path planning to 3D. Disparity images are obtained through an optimised stereo block matching algorithm. Obstacles are expanded in disparity space to obtain the configuration space. Furthermore, Frustumbug has an improved robustness to noisy range sensor data, and includes reversing, climbing and descending manoeuvres to avoid or escape local minima. The algorithm has been extensively tested with 225 flights in two challenging simulated environments, with a success rate of 96%. Here, 3.6% did not reach the goal and 0.4% collided. Frustumbug has been implemented on a 20 gram stereo vision system, and guides drones safely around obstacles in the real world, showing its potential for small drones to reach their targets fully autonomously.},
note = {de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Verhoeven, C.J.M. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We present a computationally cheap 3D bug algorithm for drones, using stereo vision. Obstacle avoidance is important, but difficult for robots with limited resources, such as drones. Stereo vision requires less weight and power than active distance measurement sensors, but typically has a limited Field of View (FoV). In addition, the stereo camera is fixed on the drone, preventing sensor movement. For obstacle avoidance, bug algorithms require few resources. We base our proposed algorithm, Frustumbug, on the Wedgebug algorithm, since this bug algorithm copes with a limited FoV. Since Wedgebug only focuses on 2D problems, the Local-epsilon-Tangent-Graph (LETG) is used to extend the path planning to 3D. Disparity images are obtained through an optimised stereo block matching algorithm. Obstacles are expanded in disparity space to obtain the configuration space. Furthermore, Frustumbug has an improved robustness to noisy range sensor data, and includes reversing, climbing and descending manoeuvres to avoid or escape local minima. The algorithm has been extensively tested with 225 flights in two challenging simulated environments, with a success rate of 96%. Here, 3.6% did not reach the goal and 0.4% collided. Frustumbug has been implemented on a 20 gram stereo vision system, and guides drones safely around obstacles in the real world, showing its potential for small drones to reach their targets fully autonomously. |
Raoul Mink Deep Vision-based Relative Localisation by Monocular Drones (Masters Thesis) TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); de Wagter, C. (graduation committee); Zarouchas, D. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:3e922cc4-83a0-43aa-a223-a67e554d2e92,
title = {Deep Vision-based Relative Localisation by Monocular Drones},
author = {Raoul Mink},
url = {http://resolver.tudelft.nl/uuid:3e922cc4-83a0-43aa-a223-a67e554d2e92},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Decentralised drone swarms need real time collision avoidance, thus requiring efficient, real time relative localisation. This paper explores different data inputs for vision based relative localisation. It introduces a novel dataset generated in \textit{Blender}, providing ground truth optic flow and depth. Comparisons to \textit{MPI Sintel}, an industry/research standard optic flow dataset, show it to be a challenging and realistic dataset. Two Deep Neural Network (DNN) architectures (YOLOv3 & U-Net) were trained on this data, comparing optic flow to colour images for relative positioning. The results indicate that using optic flow provides a significant advantage in relative localisation. The flow based YOLOv3 had an mAP of 48%, 9% better than the RGB based YOLOv3, and 23% better than its equivalent U-Net. Its IoU_{0.5} of 63% was also 14% better than the RGB based YOLOv3, and 51% than its equivalent U-Net. As an input, it generalises better than RGB, as test clips with variant drones show. For these variants, the optical flow based networks outperformed the RGB based networks by a factor of 10.},
note = {de Croon, G.C.H.E. (mentor); de Wagter, C. (graduation committee); Zarouchas, D. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Decentralised drone swarms need real time collision avoidance, thus requiring efficient, real time relative localisation. This paper explores different data inputs for vision based relative localisation. It introduces a novel dataset generated in Blender, providing ground truth optic flow and depth. Comparisons to MPI Sintel, an industry/research standard optic flow dataset, show it to be a challenging and realistic dataset. Two Deep Neural Network (DNN) architectures (YOLOv3 & U-Net) were trained on this data, comparing optic flow to colour images for relative positioning. The results indicate that using optic flow provides a significant advantage in relative localisation. The flow based YOLOv3 had an mAP of 48%, 9% better than the RGB based YOLOv3, and 23% better than its equivalent U-Net. Its IoU0.5 of 63% was also 14% better than the RGB based YOLOv3, and 51% than its equivalent U-Net. As an input, it generalises better than RGB, as test clips with variant drones show. For these variants, the optical flow based networks outperformed the RGB based networks by a factor of 10. |
Till Blaha Computationally Efficient Control Allocation Using Active-Set Algorithms (Masters Thesis) TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:bffb47bf-5864-4b18-921b-588b3a664866,
title = {Computationally Efficient Control Allocation Using Active-Set Algorithms},
author = {Till Blaha},
url = {http://resolver.tudelft.nl/uuid:bffb47bf-5864-4b18-921b-588b3a664866},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {An effective distribution of flight control commands over many aircraft actuators (engines, control surfaces, flaps, etc.) can be achieved with constrained optimisation. Active-Set methods solve these problems efficiently, but their computational time requirements are still prohibitive for aircraft with many actuators or slower digital flight control processors. This work shows how these methods can be improved in these regards, by updating the required matrix factorisations at lower computational costs, rather than solving a separate optimisation problem at every step of the iterative algorithm. Additionally, it is shown how the sparsity of the problem matrices can be exploited. Both open-loop simulations and flight tests have been performed, which show that worst-case timings for a 6-rotor multicopter UAV can be improved by 65% over a current Active-Set solver. Furthermore, methods are presented that remedy numerical stability issues occurring in micro-controller floating point arithmetic but introduce a small but measurable adverse effect on the flight behaviour.},
note = {Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
An effective distribution of flight control commands over many aircraft actuators (engines, control surfaces, flaps, etc.) can be achieved with constrained optimisation. Active-Set methods solve these problems efficiently, but their computational time requirements are still prohibitive for aircraft with many actuators or slower digital flight control processors. This work shows how these methods can be improved in these regards, by updating the required matrix factorisations at lower computational costs, rather than solving a separate optimisation problem at every step of the iterative algorithm. Additionally, it is shown how the sparsity of the problem matrices can be exploited. Both open-loop simulations and flight tests have been performed, which show that worst-case timings for a 6-rotor multicopter UAV can be improved by 65% over a current Active-Set solver. Furthermore, methods are presented that remedy numerical stability issues occurring in micro-controller floating point arithmetic but introduce a small but measurable adverse effect on the flight behaviour. |
Xander Beurden Stability control and positional water jet placement for a novel tethered unmanned hydro-propelled aerial vehicle using real-time water jet detection (Masters Thesis) TU Delft Aerospace Engineering, 2023, (de Wagter, C. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:a4f3199c-71f6-4182-bd98-30db62db8018,
title = {Stability control and positional water jet placement for a novel tethered unmanned hydro-propelled aerial vehicle using real-time water jet detection},
author = {Xander Beurden},
url = {http://resolver.tudelft.nl/uuid:a4f3199c-71f6-4182-bd98-30db62db8018},
year = {2023},
date = {2023-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Aerial platforms designed for water jet placement are gaining interest in the areas of fire-fighting, washing, and irrigation. A novel, lightweight, and simplistic design is proposed that reduces the number of actuators and limits ineffective water discharge. External camera feedback was used for position control as a first step towards autonomous flight. An initial prototype of an unmanned hydro-propelled aerial vehicle (UHAV) connected to a water hose was designed and fabricated. Flight tests were conducted to show that attitude control with uniaxial thrust-vectoring of two nozzles was impossible due to undamped vibrations and coupling effects. By redesigning the PID controller, pitch rate damping was accomplished. Furthermore, a design trade-off led to the introduction of a canting keel to reduce bank-yaw coupling effects due to asymmetric nozzle deflections. Flight tests proved that the iterated design with a hose length of 3m was capable of disturbance rejection and setpoint tracking. An external camera was used to show that the Lucas-Kanade optical flow algorithm and the implementation of the YOLOv5 segmentation model can be used for positional water jet placement. By increasing the pitch rate damping, improving the water jet detection algorithm and implementing a cost function for water discharge at the area of interest, autonomous missions can be flown in the future.},
note = {de Wagter, C. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Aerial platforms designed for water jet placement are gaining interest in the areas of fire-fighting, washing, and irrigation. A novel, lightweight, and simplistic design is proposed that reduces the number of actuators and limits ineffective water discharge. External camera feedback was used for position control as a first step towards autonomous flight. An initial prototype of an unmanned hydro-propelled aerial vehicle (UHAV) connected to a water hose was designed and fabricated. Flight tests were conducted to show that attitude control with uniaxial thrust-vectoring of two nozzles was impossible due to undamped vibrations and coupling effects. By redesigning the PID controller, pitch rate damping was accomplished. Furthermore, a design trade-off led to the introduction of a canting keel to reduce bank-yaw coupling effects due to asymmetric nozzle deflections. Flight tests proved that the iterated design with a hose length of 3m was capable of disturbance rejection and setpoint tracking. An external camera was used to show that the Lucas-Kanade optical flow algorithm and the implementation of the YOLOv5 segmentation model can be used for positional water jet placement. By increasing the pitch rate damping, improving the water jet detection algorithm and implementing a cost function for water discharge at the area of interest, autonomous missions can be flown in the future. |
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?
