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

693 entries « 3 of 14 »

2023

Miscellaneous

Alessandro Mancinelli; Bart D. W. Remes; Guido C. H. E. Croon; Ewoud J. J. Smeur

Unified incremental nonlinear controller for the transition control of a hybrid dual-axis tilting rotor quad-plane (Miscellaneous)

2023.

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B. D. W. Remes

Aeronautical vehicle and method of transitioning between flight modes for an aeronautical vehicle (Miscellaneous)

2023, (B64C, B64U).

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Julius Rückin; Federico Magistri; Cyrill Stachniss; Marija Popović

Semi-Supervised Active Learning for Semantic Segmentation in Unknown Environments Using Informative Path Planning (Miscellaneous)

2023.

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Hao Hu; Sicong Pan; Liren Jin; Marija Popović; Maren Bennewitz

Active Implicit Reconstruction Using One-Shot View Planning (Miscellaneous)

2023.

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Sicong Pan; Liren Jin; Hao Hu; Marija Popović; Maren Bennewitz

How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF? (Miscellaneous)

2023.

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David Morilla-Cabello; Jonas Westheider; Marija Popovic; Eduardo Montijano

Perceptual Factors for Environmental Modeling in Robotic Active Perception (Miscellaneous)

2023.

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Tobias Zaenker; Julius Rückin; Rohit Menon; Marija Popović; Maren Bennewitz

Graph-based View Motion Planning for Fruit Detection (Miscellaneous)

2023.

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Liren Jin; Xieyuanli Chen; Julius Rückin; Marija Popović

NeU-NBV: Next Best View Planning Using Uncertainty Estimation in Image-Based Neural Rendering (Miscellaneous)

2023.

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Jonas Westheider; Julius Rückin; Marija Popović

Multi-UAV Adaptive Path Planning Using Deep Reinforcement Learning (Miscellaneous)

2023.

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Julius Rückin; Federico Magistri; Cyrill Stachniss; Marija Popović

An Informative Path Planning Framework for Active Learning in UAV-based Semantic Mapping (Miscellaneous)

2023.

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2022

Journal Articles

Brett Stephens; Hai-Nguyen Nguyen; S. Hamaza; Mirko Kovac

An Integrated Framework for Autonomous Sensor Placement With Aerial Robots (Journal Article)

In: IEEE/ASME Transactions on Mechatronics, vol. 28, no. 1, pp. 38–49, 2022, ISSN: 1083-4435, (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.).

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Sven Pfeiffer; Veronica Munaro; Shushuai Li; Alessandro Rizzo; Guido C. H. E. Croon

Three-dimensional relative localization and synchronized movement with wireless ranging (Journal Article)

In: Swarm Intelligence, vol. 17, no. 1-2, pp. 147–172, 2022, 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.).

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C. Wang; S. Wang; G. C. H. E. Croon; S. Hamaza

Embodied airflow sensing for improved in-gust flight of flapping wing MAVs (Journal Article)

In: Frontiers In Robotics and AI, vol. 9, 2022, ISSN: 2296-9144.

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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 (Journal Article)

In: Nature, vol. 610, no. 7932, pp. 485–490, 2022, ISSN: 0028-0836.

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S. Stroobants; J. J. G. Dupeyroux; G. C. H. E. Croon

Neuromorphic computing for attitude estimation onboard quadrotors (Journal Article)

In: Neuromorphic Computing and Engineering, vol. 2, no. 3, 2022, ISSN: 2634-4386.

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S. Wang; D. A. Olejnik; C. Wagter; B. W. Oudheusden; G. C. H. E. Croon; S. Hamaza

Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle Under Wind Disturbance With Onboard Thermistor-Based Airflow Sensing (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9605–9612, 2022, ISSN: 2377-3766, (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.).

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Jelle Westenberger; Christophe De Wagter; Guido C. H. E. Croon

Efficient Bang-Bang Model Predictive Control for Quadcopters (Journal Article)

In: Unmanned Systems, vol. 10, no. 4, pp. 395–405, 2022, ISSN: 2301-3850, (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.).

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Ziqing Ma; Ewoud J. J. Smeur; Guido C. H. E. Croon

Wind tunnel tests of a wing at all angles of attack (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 14, 2022, ISSN: 1756-8293.

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Ye Zhou; Hann Woei Ho

Online robot guidance and navigation in non-stationary environment with hybrid Hierarchical Reinforcement Learning (Journal Article)

In: Engineering Applications of Artificial Intelligence, vol. 114, 2022, ISSN: 0952-1976, (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.).

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Guillermo Gonzalez; Guido C. H. E. De Croon; Diana Olejnik; Matej Karásek

Position Controller for a Flapping-Wing Drone Using UWB (Journal Article)

In: Unmanned Systems, vol. 10, no. 4, pp. 383–394, 2022, ISSN: 2301-3850.

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M. Gossye; S. Hwang; B. D. W. Remes

Developing a Modular Tool to Simulate Regeneration Power Potential Using Orographic Wind-hovering UAVs (Journal Article)

In: Unmanned Systems, vol. 10, no. 4, pp. 369–381, 2022, ISSN: 2301-3850, (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.).

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Hanjie Jiang; Ye Zhou; Hann Woei Ho

Aerodynamic design and evaluation of a ducted fan lift system for vertical takeoff and landing flying cars (Journal Article)

In: Proceedings of the Institution of Mechanical Engineers, Part A: Journal of Power and Energy, vol. 237, no. 1, pp. 115–125, 2022, ISSN: 0957-6509, (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.).

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G. C. H. E. Croon; J. J. G. Dupeyroux; S. B. Fuller; J. A. R. Marshall

Insect-inspired AI for autonomous robots (Journal Article)

In: Science Robotics, vol. 7, no. 67, pp. eabl6334, 2022, ISSN: 2470-9476.

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D. A. Olejnik; Florian T. Muijres; M. Karasek; Leonardo Honfi Camilo; C. Wagter; G. C. H. E. Croon

Flying Into the Wind: Insects and Bio-Inspired Micro-Air-Vehicles With a Wing-Stroke Dihedral Steer Passively Into Wind-Gusts (Journal Article)

In: Frontiers In Robotics and AI, vol. 9, 2022, ISSN: 2296-9144.

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H. J. Karssies; C. De Wagter

Extended incremental non-linear control allocation (XINCA) for quadplanes (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 14, 2022, ISSN: 1756-8293.

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Shushuai Li; Christophe De Wagter; Guido C. H. E. Croon

Nonlinear model predictive control for improving range-based relative localization by maximizing observability (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 14, 2022, ISSN: 1756-8293.

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David Benjamin De Jong; Federico Paredes-Valles; Guido Cornelis Henricus Eugene De Croon

How Do Neural Networks Estimate Optical Flow A Neuropsychology-Inspired Study (Journal Article)

In: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 44, no. 11, pp. 8290–8305, 2022, ISSN: 0162-8828, (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.).

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Books

G. C. H. E. Croon

What nature can teach us about drones and what drones can teach us about nature” (Book)

2022.

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data

Tommy Tran; Yingfu Xu; Guido Croon

Data underlying the publication: "Semantic Segmentation over Time using Deep Neural Networks" (data)

2022.

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Sven Pfeiffer; Shushuai Li; Guido Croon

Flight data underlying the publication: "Three-dimensional Relative Localization and Synchronized Movement with Wireless Ranging" (data)

2022.

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Stein Stroobants; Julien Dupeyroux; Guido Croon

Datasets used for the paper: Neuromorphic Attitude Estimation onboard quadrotors (data)

2022.

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Guido Croon; Julien Dupeyroux; Christophe Wagter; Abhishek Chatterjee; Diana A. Olejnik; Franck RUFFIER

Code and data for the article "Accommodating unobservability to control flight attitude with optic flow" (data)

2022.

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Book Chapters

Fabian Arzberger; Jasper Zevering; A. Bredenbeck; Dorit Borrmann; Andreas Nüchter

Unconventional Trajectories for Mobile 3D Scanning and Mapping (Book Chapter)

In: Unconventional Trajectories for Mobile 3D Scanning and Mapping, IntechOpen, 2022.

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Proceedings Articles

D. C. Wijngaarden; B. D. W. Remes

INDI Control for the ObliqueWing-Quad Plane Drone (Proceedings Article)

In: 13th international micro air vehicle conference, pp. 119–126–200, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022).

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S. A. Bahnam; C. Wagter; G. C. H. E. Croon

Improving the computational efficiency of ROVIO (Proceedings Article)

In: 13th international micro air vehicle conference, pp. 47–52, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022).

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G. C. H. E. Croon; C. Wagter

Preface (Proceedings Article)

In: 13th international micro air vehicle conference, pp. 3–3, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022).

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S. Schröter; E. J. J. Smeur; B. D. W. Remes

Design and joint control of a conjoined biplane and quadrotor (Proceedings Article)

In: 13th international micro air vehicle conference, pp. 193–200, 2022, (13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022).

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Jan K. N. Verheyen; Julien Dupeyroux; Guido C. H. E. de Croon

A Novel Multi-vision Sensor Dataset for Insect-Inspired Outdoor Autonomous Navigation (Proceedings Article)

In: Hunt, Alexander; Vouloutsi, Vasiliki; Moses, Kenneth; Quinn, Roger; Mura, Anna; Prescott, Tony; Verschure, Paul F. (Ed.): Biomimetic and Biohybrid Systems - 11th International Conference, Living Machines 2022, Proceedings, pp. 279–291, Springer, 2022, ISBN: 9783031204692, (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. ; 11th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2022 ; Conference date: 19-07-2022 Through 22-07-2022).

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Isha Panchal; I. C. Metz; M. J. Ribeiro; S. F. Armanini

Urban Air Traffic Management For Collision Avoidance with Non-Cooperative Airspace Users (Proceedings Article)

In: 33rd Congress of the International Council of the Aeronautical Sciences (2022), 2022, (33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022, ICAS 2022 ; Conference date: 04-09-2022 Through 09-09-2022).

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A. Bredenbeck; C. Della Santina; S. Hamaza

End-Effector Contact Force Estimation for Aerial Manipulators (Proceedings Article)

In: IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and Opportunities, IEEE, United States, 2022, (The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022).

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Andre Farinha; S. Hamaza; Guy Burroughes; Mirko Kovac

Optimal Sensor Launching with UAVs for Monitoring of Hazardous Environments (Proceedings Article)

In: IEEE IROS 2022 Workshop on Robotics for Nuclear Environments Exploration and Decommissioning: Challenges and Emerging Techniques, 2022, (The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022).

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Stein Stroobants; Julien Dupeyroux; Guido De Croon

Design and implementation of a parsimonious neuromorphic PID for onboard altitude control for MAVs using neuromorphic processors (Proceedings Article)

In: ICONS 2022 - Proceedings of International Conference on Neuromorphic Systems 2022, Association for Computing Machinery (ACM), United States, 2022, (2022 International Conference on Neuromorphic Systems, ICONS 2022 ; Conference date: 27-07-2022 Through 29-07-2022).

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Sabrina M. Neuman; Brian Plancher; Bardienus P. Duisterhof; Srivatsan Krishnan; Colby Banbury; Mark Mazumder; Shvetank Prakash; Jason Jabbour; Aleksandra Faust; Guido Croon; Vijay Janapa Reddi

Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots (Proceedings Article)

In: Proceedings of the 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS), pp. 296–299, IEEE, United States, 2022, ISBN: 978-1-6654-0997-1, (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. ; 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems , AICAS 2022 ; Conference date: 13-06-2022 Through 15-06-2022).

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J. J. G. Dupeyroux; S. Stroobants; G. C. H. E. Croon

A toolbox for neuromorphic perception in robotics (Proceedings Article)

In: Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022, 2022, (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. ; 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022 ; Conference date: 22-06-2022 Through 24-06-2022).

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Alessandro Mancinelli; Ewoud J. J. Smeur; Bart Remes; Guido De Croon

Dual-axis tilting rotor quad-plane design, simulation, flight and performance comparison with a conventional quad-plane design (Proceedings Article)

In: 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022, pp. 197–206, Institute of Electrical and Electronics Engineers (IEEE), United States, 2022, (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. ; 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 ; Conference date: 21-06-2022 Through 24-06-2022).

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D. A. Olejnik; S. Wang; J. J. G. Dupeyroux; S. Stroobants; M. Karasek; C. Wagter; G. C. H. E. Croon

An Experimental Study of Wind Resistance and Power Consumption in MAVs with a Low-Speed Multi-Fan Wind System (Proceedings Article)

In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 2989–2994, 2022, (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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).

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M. Gonzalez Alvarez; J. J. G. Dupeyroux; Federico Corradi; G. C. H. E. Croon

Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp (Proceedings Article)

In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 85–90, 2022, (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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).

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S. Li; C. Wagter; G. C. H. E. Croon

Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks (Proceedings Article)

In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 9689–9695, 2022, (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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).

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Julien Dupeyroux; Raoul Dinaux; Nikhil Wessendorp; Guido De Croon

A Novel Obstacle Detection and Avoidance Dataset for Drones (Proceedings Article)

In: Proceedings of System Engineering for Constrained Embedded Systems - DroneSE, pp. 8–13, Association for Computing Machinery (ACM), United States, 2022, (2022 Workshop on System Engineering for Constrained Embedded Systems - Drone Systems Engineering and Rapid Simulation and Performance Evaluation: Methods and Tools, DroneSE and RAPIDO 2022 - Presented at HiPEAC 2022 Conference ; Conference date: 20-06-2022 Through 22-06-2022).

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Micha Schuster; David Bernstein; Paul Reck; S. Hamaza; Michael Beitelschmidt

Automated Aerial Screwing with a Fully Actuated Aerial Manipulator (Proceedings Article)

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, pp. 3340–3347, 2022, (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. ; The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022).

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693 entries « 3 of 14 »