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

696 entries « 2 of 14 »

2023

Proceedings Articles

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).

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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).

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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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

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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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

(Links | BibTeX)

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).

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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).

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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.

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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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

Tim Burgers

Evolving Spiking Neural Networks to Mimic PID Control: Applied to Autonomous Blimps (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Stroobants, S. (mentor); de Wagter, C. (graduation committee); Bombelli, A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Seamus McGinley

Vision-guided Quadrotor Perching on Imperfectly Cylindrical Structures (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Hamaza, S. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Michiel Firlefyn

Direct Learning of Home Vector Direction: Incited by Existing Insect-Inspired Approaches for Local Navigation and Wayfinding (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Hagenaars, J.J. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

MOJI SHI

Evaluating Dynamic Environment Difficulty for Obstacle Avoidance Benchmarking (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Cognitive Robotics, 2023, (Alonso Mora, J. (mentor); Chen, G. (mentor); Wisse, M. (graduation committee); Hamaza, S. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Youssef Farah

EV-LayerSegNet: Self-supervised Motion Segmentation using Event-based Cameras (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Mooij, E. (graduation committee); Ellerbroek, Joost (graduation committee); Paredes Valles, F. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Laurens Lammers

Memory Mechanisms in Spiking Neural Networks (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Hagenaars, J.J. (mentor); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Mauro Villanueva Aguado

An Adaptive Neural Network Quadrotor Trajectory Tracking Controller Tolerant to Propeller Damage (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Wagter, C. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jonathas Laffita van den Hove d'Ertsenryck

Rigid airborne docking between a fixed-wing UAV and an over-actuated multicopter (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)).

(Abstract | Links | BibTeX)

Erwin Lodder

Neuro-evolution learned neuromorphic control for a vision-based 3D landing (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Stroobants, S. (mentor); Delft University of Technology (degree granting institution)).

(Links | BibTeX)

Frédéric Larocque

Synthetic Air Data System for Pitot Tube Failure Detection on the Variable Skew Quad Plane (Masters Thesis)

TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2023, (Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); De Ponti, T.M.L. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Marvin Cairo

Energy poverty, bridging the gap between housing association and tenant: What measures housing associations can take to aid their tenants who are struggling with energy poverty (Masters Thesis)

TU Delft Architecture and the Built Environment, 2023, (Hoekstra, J.S.C.M. (mentor); Qian, QK (mentor); Croon, T.M. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Luc Ridder

Improving DRL Of Vision-Based Navigation By Stereo Image Prediction (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Wu, Y. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Koen Engelen

Aerobatic maneuvering of Autonomous Hybrid UAVs: Trajectory Tracking using INDI in the Control Frame (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Tom Suys

Autonomous Control for Orographic Soaring of Fixed-Wing UAVs (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Remes, B.D.W. (mentor); Hwang, S. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Martijn Brummelhuis

A Centralised Approach to Aerial Manipulation on Overhanging Surfaces (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Hamaza, S. (mentor); Smeur, E.J.J. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Sebastien Origer

Guidance &amp; Control Networks for Time-Optimal Quadcopter Flight (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor); Izzo, Dario (mentor); Ferede, R. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Anish Jadoenathmisier

Aerial Perching via Active Touch: Embodying Robust Tactile Grasping on Aerial Robots (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Hamaza, S. (mentor); de Croon, G.C.H.E. (graduation committee); Pool, D.M. (graduation committee); Bredenbeck, A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Huamin Liu

Collaborative Payload Carrying with Multiple MAVs (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Federico Magri

Modular Neural Network Navigation for Autonomous Nano Drone Racing (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor); Ferede, R. (mentor); Bahnam, S.A. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Alexis Wissen

Tilt-rotor Tailsitter Global Acceleration Control: Behavioural Cloning of a Nonlinear Model Predictive Controller (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Ma, Z. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

DARSHAN KALYANASUNDARAM

Factor graphs for inventory label scanning in warehouse (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering, 2023, (de Croon, G.C.H.E. (mentor); Alonso Mora, J. (mentor); Ozo, Michaël (mentor); Caesar, H.C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Hajo Erwich

GSL-Bench: High Fidelity Gas Source Localization Benchmarking (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (de Croon, G.C.H.E. (mentor); Duisterhof, B.P. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Rinto Vries

Application of Control Barrier Functions to Collision Free Model Predictive Control: Robust UAV Trajectories with MPC-CBF and Euclidean Signed Distance Fields (Masters Thesis)

TU Delft Aerospace Engineering, 2023, (Smeur, E.J.J. (mentor); Horstink, Thomas (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Chris Bononi Bello

The development of a distributed electric propulsion (DEP) noise model (Masters Thesis)

TU Delft Aerospace Engineering; TU Delft Aircraft Noise and Climate Effects, 2023, (Snellen, M. (mentor); Yin, F. (graduation committee); Smeur, E.J.J. (graduation committee); Heblij, S. (mentor); de Haan, W (mentor); Delft University of Technology (degree granting institution)).

(Links | BibTeX)

Miscellaneous

Hang Yu; Guido C. H. E Croon; Christophe De Wagter

AvoidBench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors (Miscellaneous)

2023.

(Links | BibTeX)

Tim Burgers; Stein Stroobants; Guido Croon

Evolving Spiking Neural Networks to Mimic PID Control for Autonomous Blimps (Miscellaneous)

2023.

(Links | BibTeX)

Sunyou Hwang; Bart D. W. Remes; Guido C. H. E. Croon

AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle (Miscellaneous)

2023.

(Links | BibTeX)

Tom Suys; Sunyou Hwang; Guido C. H. E. Croon; Bart D. W. Remes

Autonomous Control for Orographic Soaring of Fixed-Wing UAVs (Miscellaneous)

2023.

(Links | BibTeX)

Dario Izzo; Emmanuel Blazquez; Robin Ferede; Sebastien Origer; Christophe De Wagter; Guido C. H. E. Croon

Optimality Principles in Spacecraft Neural Guidance and Control (Miscellaneous)

2023.

(Links | BibTeX)

Sebastien Origer; Christophe De Wagter; Robin Ferede; Guido C. H. E. Croon; Dario Izzo

Guidance & Control Networks for Time-Optimal Quadcopter Flight (Miscellaneous)

2023.

(Links | BibTeX)

Robin Ferede; Guido C. H. E. Croon; Christophe De Wagter; Dario Izzo

End-to-end Neural Network Based Quadcopter control (Miscellaneous)

2023.

(Links | BibTeX)

Stein Stroobants; Christophe De Wagter; Guido C. H. E. Croon

Neuromorphic Control using Input-Weighted Threshold Adaptation (Miscellaneous)

2023.

(Links | BibTeX)

Jason Yik; Korneel Van Berghe; Douwe Blanken; Younes Bouhadjar; Maxime Fabre; Paul Hueber; Denis Kleyko; Noah Pacik-Nelson; Pao-Sheng Vincent Sun; Guangzhi Tang; Shenqi Wang; Biyan Zhou; Soikat Hasan Ahmed; George Vathakkattil Joseph; Benedetto Leto; Aurora Micheli; Anurag Kumar Mishra; Gregor Lenz; Tao Sun; Zergham Ahmed; Mahmoud Akl; Brian Anderson; Andreas G. Andreou; Chiara Bartolozzi; Arindam Basu; Petrut Bogdan; Sander Bohte; Sonia Buckley; Gert Cauwenberghs; Elisabetta Chicca; Federico Corradi; Guido Croon; Andreea Danielescu; Anurag Daram; Mike Davies; Yigit Demirag; Jason Eshraghian; Tobias Fischer; Jeremy Forest; Vittorio Fra; Steve Furber; P. Michael Furlong; William Gilpin; Aditya Gilra; Hector A. Gonzalez; Giacomo Indiveri; Siddharth Joshi; Vedant Karia; Lyes Khacef; James C. Knight; Laura Kriener; Rajkumar Kubendran; Dhireesha Kudithipudi; Yao-Hong Liu; Shih-Chii Liu; Haoyuan Ma; Rajit Manohar; Josep Maria Margarit-Taulé; Christian Mayr; Konstantinos Michmizos; Dylan Muir; Emre Neftci; Thomas Nowotny; Fabrizio Ottati; Ayca Ozcelikkale; Priyadarshini Panda; Jongkil Park; Melika Payvand; Christian Pehle; Mihai A. Petrovici; Alessandro Pierro; Christoph Posch; Alpha Renner; Yulia Sandamirskaya; Clemens JS Schaefer; André Schaik; Johannes Schemmel; Samuel Schmidgall; Catherine Schuman; Jae-sun Seo; Sadique Sheik; Sumit Bam Shrestha; Manolis Sifalakis; Amos Sironi; Matthew Stewart; Kenneth Stewart; Terrence C. Stewart; Philipp Stratmann; Jonathan Timcheck; Nergis Tömen; Gianvito Urgese; Marian Verhelst; Craig M. Vineyard; Bernhard Vogginger; Amirreza Yousefzadeh; Fatima Tuz Zohora; Charlotte Frenkel; Vijay Janapa Reddi

NeuroBench: A Framework for Benchmarking Neuromorphic Computing Algorithms and Systems (Miscellaneous)

2023.

(Links | BibTeX)

696 entries « 2 of 14 »