2022
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Journal Articles
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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. @article{5c6513c332d341fb8b8ea5e591a3218f,
title = {Embodied airflow sensing for improved in-gust flight of flapping wing MAVs},
author = {C. Wang and S. Wang and G. C. H. E. Croon and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/embodied-airflow-sensing-for-improved-in-gust-flight-of-flapping-},
doi = {10.3389/frobt.2022.1060933},
issn = {2296-9144},
year = {2022},
date = {2022-01-01},
journal = {Frontiers In Robotics and AI},
volume = {9},
publisher = {Frontiers Media},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{9316707c556e401e975dded2a99abdf7,
title = {Accommodating unobservability to control flight attitude with optic flow},
author = {Guido C. H. E. Croon and Julien J. G. Dupeyroux and Christophe De Wagter and Abhishek Chatterjee and Diana A. Olejnik and Franck Ruffier},
url = {https://research.tudelft.nl/en/publications/accommodating-unobservability-to-control-flight-attitude-with-opt},
doi = {10.1038/s41586-022-05182-2},
issn = {0028-0836},
year = {2022},
date = {2022-01-01},
journal = {Nature},
volume = {610},
number = {7932},
pages = {485–490},
publisher = {Nature},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{6cab4d240eb14224a4b4cae6ea882878,
title = {Neuromorphic computing for attitude estimation onboard quadrotors},
author = {S. Stroobants and J. J. G. Dupeyroux and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/neuromorphic-computing-for-attitude-estimation-onboard-quadrotors},
doi = {10.1088/2634-4386/ac7ee0},
issn = {2634-4386},
year = {2022},
date = {2022-01-01},
journal = {Neuromorphic Computing and Engineering},
volume = {2},
number = {3},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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.). @article{35039de1a63c435297d58e2a46946390,
title = {Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle Under Wind Disturbance With Onboard Thermistor-Based Airflow Sensing},
author = {S. Wang and D. A. Olejnik and C. Wagter and B. W. Oudheusden and G. C. H. E. Croon and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/battle-the-wind-improving-flight-stability-of-a-flapping-wing-mic},
doi = {10.1109/LRA.2022.3190609},
issn = {2377-3766},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {4},
pages = {9605–9612},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
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}
}
|
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.). @article{9260a4a7628a4820aeff6521d2c1760e,
title = {Efficient Bang-Bang Model Predictive Control for Quadcopters},
author = {Jelle Westenberger and Christophe De Wagter and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/efficient-bang-bang-model-predictive-control-for-quadcopters},
doi = {10.1142/S2301385022410060},
issn = {2301-3850},
year = {2022},
date = {2022-01-01},
journal = {Unmanned Systems},
volume = {10},
number = {4},
pages = {395–405},
publisher = {World Scientific Publishing},
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}
}
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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. @article{4f51eaa88d1546f786cc4da23f61ee5f,
title = {Wind tunnel tests of a wing at all angles of attack},
author = {Ziqing Ma and Ewoud J. J. Smeur and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/wind-tunnel-tests-of-a-wing-at-all-angles-of-attack},
doi = {10.1177/17568293221110931},
issn = {1756-8293},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {14},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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.). @article{0797bee50a87478484d0335d6604b4c2,
title = {Online robot guidance and navigation in non-stationary environment with hybrid Hierarchical Reinforcement Learning},
author = {Ye Zhou and Hann Woei Ho},
url = {https://research.tudelft.nl/en/publications/online-robot-guidance-and-navigation-in-non-stationary-environmen},
doi = {10.1016/j.engappai.2022.105152},
issn = {0952-1976},
year = {2022},
date = {2022-01-01},
journal = {Engineering Applications of Artificial Intelligence},
volume = {114},
publisher = {Elsevier},
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}
}
|
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. @article{d64f6594338b4247b6ddf73a1877c05e,
title = {Position Controller for a Flapping-Wing Drone Using UWB},
author = {Guillermo Gonzalez and Guido C. H. E. De Croon and Diana Olejnik and Matej Karásek},
url = {https://research.tudelft.nl/en/publications/position-controller-for-a-flapping-wing-drone-using-uwb},
doi = {10.1142/S2301385022410059},
issn = {2301-3850},
year = {2022},
date = {2022-01-01},
journal = {Unmanned Systems},
volume = {10},
number = {4},
pages = {383–394},
publisher = {World Scientific Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
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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.). @article{083329e75a0e4a568b2575722184b88f,
title = {Developing a Modular Tool to Simulate Regeneration Power Potential Using Orographic Wind-hovering UAVs},
author = {M. Gossye and S. Hwang and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/developing-a-modular-tool-to-simulate-regeneration-power-potentia},
doi = {10.1142/S2301385022410047},
issn = {2301-3850},
year = {2022},
date = {2022-01-01},
journal = {Unmanned Systems},
volume = {10},
number = {4},
pages = {369–381},
publisher = {World Scientific Publishing},
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}
}
|
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.). @article{5d62b73fd4d44e0b84509e76e06af08e,
title = {Aerodynamic design and evaluation of a ducted fan lift system for vertical takeoff and landing flying cars},
author = {Hanjie Jiang and Ye Zhou and Hann Woei Ho},
url = {https://research.tudelft.nl/en/publications/aerodynamic-design-and-evaluation-of-a-ducted-fan-lift-system-for},
doi = {10.1177/09576509221106395},
issn = {0957-6509},
year = {2022},
date = {2022-01-01},
journal = {Proceedings of the Institution of Mechanical Engineers, Part A: Journal of Power and Energy},
volume = {237},
number = {1},
pages = {115–125},
publisher = {SAGE Publishing},
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}
}
|
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. @article{0553059a817f4b03988baa78a698c25c,
title = {Insect-inspired AI for autonomous robots},
author = {G. C. H. E. Croon and J. J. G. Dupeyroux and S. B. Fuller and J. A. R. Marshall},
url = {https://research.tudelft.nl/en/publications/insect-inspired-ai-for-autonomous-robots},
doi = {10.1126/scirobotics.abl6334},
issn = {2470-9476},
year = {2022},
date = {2022-01-01},
journal = {Science Robotics},
volume = {7},
number = {67},
pages = {eabl6334},
publisher = {American Association for the Advancement of Science},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{32e40eb562b642e58e35830f47573640,
title = {Flying Into the Wind: Insects and Bio-Inspired Micro-Air-Vehicles With a Wing-Stroke Dihedral Steer Passively Into Wind-Gusts},
author = {D. A. Olejnik and Florian T. Muijres and M. Karasek and Leonardo Honfi Camilo and C. Wagter and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/flying-into-the-wind-insects-and-bio-inspired-micro-air-vehicles-},
doi = {10.3389/frobt.2022.820363},
issn = {2296-9144},
year = {2022},
date = {2022-01-01},
journal = {Frontiers In Robotics and AI},
volume = {9},
publisher = {Frontiers Media},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{5c6e7f75eb3f435583517ed6b67d6cf3,
title = {Extended incremental non-linear control allocation (XINCA) for quadplanes},
author = {H. J. Karssies and C. De Wagter},
url = {https://research.tudelft.nl/en/publications/extended-incremental-non-linear-control-allocation-xinca-for-quad},
doi = {10.1177/17568293211070825},
issn = {1756-8293},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {14},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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. @article{513b2c4204f648e29ef10cff707e6cd2,
title = {Nonlinear model predictive control for improving range-based relative localization by maximizing observability},
author = {Shushuai Li and Christophe De Wagter and Guido C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/nonlinear-model-predictive-control-for-improving-range-based-rela-2},
doi = {10.1177/17568293211073680},
issn = {1756-8293},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {14},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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.). @article{3ef12fc1f8e0473ea7c806357e54061a,
title = {How Do Neural Networks Estimate Optical Flow A Neuropsychology-Inspired Study},
author = {David Benjamin De Jong and Federico Paredes-Valles and Guido Cornelis Henricus Eugene De Croon},
url = {https://research.tudelft.nl/en/publications/how-do-neural-networks-estimate-optical-flow-a-neuropsychology-in},
doi = {10.1109/TPAMI.2021.3083538},
issn = {0162-8828},
year = {2022},
date = {2022-01-01},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {44},
number = {11},
pages = {8290–8305},
publisher = {IEEE},
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}
}
|
Books
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G. C. H. E. Croon What nature can teach us about drones and what drones can teach us about nature” (Book) 2022. @book{90622b4a8d5f4028bdc7b34f862df0e8,
title = {What nature can teach us about drones and what drones can teach us about nature”},
author = {G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/what-nature-can-teach-us-about-drones-and-what-drones-can-teach-u},
year = {2022},
date = {2022-01-01},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
data
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Tommy Tran; Yingfu Xu; Guido Croon Data underlying the publication: "Semantic Segmentation over Time using Deep Neural Networks" (data) 2022. @data{https://doi.org/10.4121/19042235.v2,
title = {Data underlying the publication: "Semantic Segmentation over Time using Deep Neural Networks"},
author = {Tommy Tran and Yingfu Xu and Guido Croon},
url = {https://data.4tu.nl/articles/dataset/Data_underlying_the_publication_Semantic_Segmentation_using_Deep_Neural_Networks_for_MAVs_/19042235/2},
doi = {10.4121/19042235.v2},
year = {2022},
date = {2022-01-01},
publisher = {4TU.ResearchData},
keywords = {},
pubstate = {published},
tppubtype = {data}
}
|
Sven Pfeiffer; Shushuai Li; Guido Croon Flight data underlying the publication: "Three-dimensional Relative Localization and Synchronized Movement with Wireless Ranging" (data) 2022. @data{https://doi.org/10.4121/17372348.v2,
title = {Flight data underlying the publication: "Three-dimensional Relative Localization and Synchronized Movement with Wireless Ranging"},
author = {Sven Pfeiffer and Shushuai Li and Guido Croon},
url = {https://data.4tu.nl/articles/dataset/Flight_data_underlying_the_publication_Three-dimensional_Relative_Localization_and_Swarming_with_Wireless_Ranging_/17372348/2},
doi = {10.4121/17372348.v2},
year = {2022},
date = {2022-01-01},
publisher = {4TU.ResearchData},
keywords = {},
pubstate = {published},
tppubtype = {data}
}
|
Stein Stroobants; Julien Dupeyroux; Guido Croon Datasets used for the paper: Neuromorphic Attitude Estimation onboard quadrotors (data) 2022. @data{https://doi.org/10.4121/20464830.v1,
title = {Datasets used for the paper: Neuromorphic Attitude Estimation onboard quadrotors},
author = {Stein Stroobants and Julien Dupeyroux and Guido Croon},
url = {https://data.4tu.nl/articles/dataset/Datasets_used_for_the_paper_Neuromorphic_Attitude_Estimation_onboard_quadrotors/20464830/1},
doi = {10.4121/20464830.v1},
year = {2022},
date = {2022-01-01},
publisher = {4TU.ResearchData},
keywords = {},
pubstate = {published},
tppubtype = {data}
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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. @data{https://doi.org/10.4121/20183399.v1,
title = {Code and data for the article "Accommodating unobservability to control flight attitude with optic flow"},
author = {Guido Croon and Julien Dupeyroux and Christophe Wagter and Abhishek Chatterjee and Diana A. Olejnik and Franck RUFFIER},
url = {https://data.4tu.nl/articles/dataset/Code_and_data_for_the_article_Accommodating_unobservability_to_control_flight_attitude_with_optic_flow_/20183399/1},
doi = {10.4121/20183399.v1},
year = {2022},
date = {2022-01-01},
publisher = {4TU.ResearchData},
keywords = {},
pubstate = {published},
tppubtype = {data}
}
|
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. @inbook{3ef42c0edd3e4314a2f97c7a0faf4585,
title = {Unconventional Trajectories for Mobile 3D Scanning and Mapping},
author = {Fabian Arzberger and Jasper Zevering and A. Bredenbeck and Dorit Borrmann and Andreas Nüchter},
url = {https://research.tudelft.nl/en/publications/unconventional-trajectories-for-mobile-3d-scanning-and-mapping},
doi = {10.5772/intechopen.108132},
year = {2022},
date = {2022-01-01},
booktitle = {Unconventional Trajectories for Mobile 3D Scanning and Mapping},
publisher = {IntechOpen},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
|
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). @inproceedings{aa37bea0b37c487a8195da470030bdb0,
title = {INDI Control for the ObliqueWing-Quad Plane Drone},
author = {D. C. Wijngaarden and B. D. W. Remes},
url = {https://research.tudelft.nl/en/publications/indi-control-for-the-obliquewing-quad-plane-drone},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {119–126–200},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{9202aacd2f6c4f59af379699fc801346,
title = {Improving the computational efficiency of ROVIO},
author = {S. A. Bahnam and C. Wagter and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {47–52},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{f83c2cfd635d4adba5ff06cea34a3db4,
title = {Preface},
author = {G. C. H. E. Croon and C. Wagter},
url = {https://research.tudelft.nl/en/publications/preface-129},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {3–3},
note = {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). @inproceedings{1f732b3f89cd4cb68c5d1bed71f432b0,
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},
year = {2022},
date = {2022-01-01},
booktitle = {13th international micro air vehicle conference},
pages = {193–200},
note = {13th International Micro Air Vehicle Conference, IMAV2022 ; Conference date: 12-09-2022 Through 16-09-2022},
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pubstate = {published},
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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). @inproceedings{f60a4d00d79a4b759bdbe427f3e8328b,
title = {A Novel Multi-vision Sensor Dataset for Insect-Inspired Outdoor Autonomous Navigation},
author = {Jan K. N. Verheyen and Julien Dupeyroux and Guido C. H. E. de Croon},
editor = {Alexander Hunt and Vasiliki Vouloutsi and Kenneth Moses and Roger Quinn and Anna Mura and Tony Prescott and Paul F. Verschure},
url = {https://research.tudelft.nl/en/publications/a-novel-multi-vision-sensor-dataset-forinsect-inspired-outdoor-au},
doi = {10.1007/978-3-031-20470-8_28},
isbn = {9783031204692},
year = {2022},
date = {2022-01-01},
booktitle = {Biomimetic and Biohybrid Systems - 11th International Conference, Living Machines 2022, Proceedings},
pages = {279–291},
publisher = {Springer},
series = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
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. ; 11th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2022 ; Conference date: 19-07-2022 Through 22-07-2022},
keywords = {},
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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). @inproceedings{5df258b88c1c4d84b9aff4381f9e6c0f,
title = {Urban Air Traffic Management For Collision Avoidance with Non-Cooperative Airspace Users},
author = {Isha Panchal and I. C. Metz and M. J. Ribeiro and S. F. Armanini},
url = {https://research.tudelft.nl/en/publications/urban-air-traffic-management-for-collision-avoidance-with-non-coo},
year = {2022},
date = {2022-01-01},
booktitle = {33rd Congress of the International Council of the Aeronautical Sciences (2022)},
note = {33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022, ICAS 2022 ; Conference date: 04-09-2022 Through 09-09-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{fe529348c7f646139fd79589f9e09ec9,
title = {End-Effector Contact Force Estimation for Aerial Manipulators},
author = {A. Bredenbeck and C. Della Santina and S. Hamaza},
url = {https://research.tudelft.nl/en/publications/end-effector-contact-force-estimation-for-aerial-manipulators},
year = {2022},
date = {2022-01-01},
booktitle = {IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and Opportunities},
publisher = {IEEE},
address = {United States},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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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). @inproceedings{bae5126ae48a4299bf095c08b06f392e,
title = {Optimal Sensor Launching with UAVs for Monitoring of Hazardous Environments},
author = {Andre Farinha and S. Hamaza and Guy Burroughes and Mirko Kovac},
url = {https://research.tudelft.nl/en/publications/optimal-sensor-launching-with-uavs-for-monitoring-of-hazardous-en},
year = {2022},
date = {2022-01-01},
booktitle = {IEEE IROS 2022 Workshop on Robotics for Nuclear Environments Exploration and Decommissioning: Challenges and Emerging Techniques},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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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). @inproceedings{e6958edd46cc4e399e39fbf809510c34,
title = {Design and implementation of a parsimonious neuromorphic PID for onboard altitude control for MAVs using neuromorphic processors},
author = {Stein Stroobants and Julien Dupeyroux and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/design-and-implementation-of-a-parsimonious-neuromorphic-pid-for-},
doi = {10.1145/3546790.3546799},
year = {2022},
date = {2022-01-01},
booktitle = {ICONS 2022 - Proceedings of International Conference on Neuromorphic Systems 2022},
publisher = {Association for Computing Machinery (ACM)},
address = {United States},
series = {ACM International Conference Proceeding Series},
note = {2022 International Conference on Neuromorphic Systems, ICONS 2022 ; Conference date: 27-07-2022 Through 29-07-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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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). @inproceedings{4557b01595f64ff7beee25493cf7c9e9,
title = {Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots},
author = {Sabrina M. Neuman and Brian Plancher and Bardienus P. Duisterhof and Srivatsan Krishnan and Colby Banbury and Mark Mazumder and Shvetank Prakash and Jason Jabbour and Aleksandra Faust and Guido Croon and Vijay Janapa Reddi},
url = {https://research.tudelft.nl/en/publications/tiny-robot-learning-challenges-and-directions-for-machine-learnin},
doi = {10.1109/AICAS54282.2022.9870000},
isbn = {978-1-6654-0997-1},
year = {2022},
date = {2022-01-01},
booktitle = {Proceedings of the 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS)},
pages = {296–299},
publisher = {IEEE},
address = {United States},
series = {Proceeding - IEEE International Conference on Artificial Intelligence Circuits and Systems, AICAS 2022},
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. ; 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems , AICAS 2022 ; Conference date: 13-06-2022 Through 15-06-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{20de7d89eb0c42f2859f54c9582f3297,
title = {A toolbox for neuromorphic perception in robotics},
author = {J. J. G. Dupeyroux and S. Stroobants and G. C. H. E. Croon},
url = {https://research.tudelft.nl/en/publications/a-toolbox-for-neuromorphic-perception-in-robotics},
doi = {10.1109/EBCCSP56922.2022.9845664},
year = {2022},
date = {2022-01-01},
booktitle = {Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022},
series = {Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022},
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. ; 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022 ; Conference date: 22-06-2022 Through 24-06-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{c3e6bf6f2feb4a47b2ed7e41db6c3d74,
title = {Dual-axis tilting rotor quad-plane design, simulation, flight and performance comparison with a conventional quad-plane design},
author = {Alessandro Mancinelli and Ewoud J. J. Smeur and Bart Remes and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/dual-axis-tilting-rotor-quad-plane-design-simulation-flight-and-p},
doi = {10.1109/ICUAS54217.2022.9836063},
year = {2022},
date = {2022-01-01},
booktitle = {2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022},
pages = {197–206},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
series = {2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022},
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. ; 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 ; Conference date: 21-06-2022 Through 24-06-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
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). @inproceedings{8cad08a5200146d8ac8bea3eacd18e76,
title = {An Experimental Study of Wind Resistance and Power Consumption in MAVs with a Low-Speed Multi-Fan Wind System},
author = {D. A. Olejnik and S. Wang and J. J. G. Dupeyroux and S. Stroobants and M. Karasek and C. Wagter and G. C. H. E. Croon},
editor = {George J. Pappas and Vijay Kumar},
url = {https://research.tudelft.nl/en/publications/an-experimental-study-of-wind-resistance-and-power-consumption-in},
doi = {10.1109/ICRA46639.2022.9811834},
year = {2022},
date = {2022-01-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation, ICRA 2022},
pages = {2989–2994},
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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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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). @inproceedings{8546fb365658485abee847e5e67316ea,
title = {Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp},
author = {M. Gonzalez Alvarez and J. J. G. Dupeyroux and Federico Corradi and G. C. H. E. Croon},
editor = {George J. Pappas and Vijay Kumar},
url = {https://research.tudelft.nl/en/publications/evolved-neuromorphic-radar-based-altitude-controller-for-an-auton},
doi = {10.1109/ICRA46639.2022.9812149},
year = {2022},
date = {2022-01-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation, ICRA 2022},
pages = {85–90},
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. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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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). @inproceedings{fe24f2568c0e4422b8209ee42cc708e3,
title = {Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks},
author = {S. Li and C. Wagter and G. C. H. E. Croon},
editor = {George J. Pappas and Vijay Kumar},
url = {https://research.tudelft.nl/en/publications/self-supervised-monocular-multi-robot-relative-localization-with-},
doi = {10.1109/ICRA46639.2022.9812150},
year = {2022},
date = {2022-01-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation, ICRA 2022},
pages = {9689–9695},
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. ; 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). @inproceedings{e2f12fc107bf4209989819fcf3163261,
title = {A Novel Obstacle Detection and Avoidance Dataset for Drones},
author = {Julien Dupeyroux and Raoul Dinaux and Nikhil Wessendorp and Guido De Croon},
url = {https://research.tudelft.nl/en/publications/a-novel-obstacle-detection-and-avoidance-dataset-for-drones},
doi = {10.1145/3522784.3522786},
year = {2022},
date = {2022-01-01},
booktitle = {Proceedings of System Engineering for Constrained Embedded Systems - DroneSE},
pages = {8–13},
publisher = {Association for Computing Machinery (ACM)},
address = {United States},
series = {ACM International Conference Proceeding Series},
note = {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},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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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). @inproceedings{7b0126294029403a8c23404073a6b6c9,
title = {Automated Aerial Screwing with a Fully Actuated Aerial Manipulator},
author = {Micha Schuster and David Bernstein and Paul Reck and S. Hamaza and Michael Beitelschmidt},
url = {https://research.tudelft.nl/en/publications/automated-aerial-screwing-with-a-fully-actuated-aerial-manipulato},
doi = {10.1109/IROS47612.2022.9981979},
year = {2022},
date = {2022-01-01},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022},
pages = {3340–3347},
series = {IEEE International Conference on Intelligent Robots and Systems},
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. ; 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},
keywords = {},
pubstate = {published},
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|
Masters Theses
|
Matteo Barbera Towards landing a deep-stalled flying-wing in a powered flat spin: a proof of concept (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Wagter, C. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:4e100997-a5b3-4863-a312-4721296fcdba,
title = {Towards landing a deep-stalled flying-wing in a powered flat spin: a proof of concept},
author = {Matteo Barbera},
url = {http://resolver.tudelft.nl/uuid:4e100997-a5b3-4863-a312-4721296fcdba},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Flying-wings show great potential for a vast number of applications, in both commercial and military sectors, thanks to their long range and fast forward flight, but suffer due to their lack of vertical take-off and landing capabilities. This paper presents a proof of concept for a novel landing method for a conventional flying wing that does not introduce additional weight dedicated only to the landing phase, with the aim of controlling a deep-stalled flying-wing in a powered flat spin. Through cyclic actuation of the servo motors and elevons, lateral forces as well as moments can be generated to control the position and attitude of the rotation plane. A successful indoor experiment was performed with a modified Parrot Disco in a controlled environment. Outdoor tests, however, failed to replicate the indoor results due to additional challenges present in the real flight conditions. A number of key challenges were identified, and the insights gained in this research lay an initial foundation for future work on this topic.},
note = {de Wagter, C. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
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Flying-wings show great potential for a vast number of applications, in both commercial and military sectors, thanks to their long range and fast forward flight, but suffer due to their lack of vertical take-off and landing capabilities. This paper presents a proof of concept for a novel landing method for a conventional flying wing that does not introduce additional weight dedicated only to the landing phase, with the aim of controlling a deep-stalled flying-wing in a powered flat spin. Through cyclic actuation of the servo motors and elevons, lateral forces as well as moments can be generated to control the position and attitude of the rotation plane. A successful indoor experiment was performed with a modified Parrot Disco in a controlled environment. Outdoor tests, however, failed to replicate the indoor results due to additional challenges present in the real flight conditions. A number of key challenges were identified, and the insights gained in this research lay an initial foundation for future work on this topic. |
Changrui Liu Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Pfeiffer, S.U. (mentor); Mazo, M. (graduation committee); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:1136170f-3c4b-43b8-8b43-09e1e52d3bfd,
title = {Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging},
author = {Changrui Liu},
url = {http://resolver.tudelft.nl/uuid:1136170f-3c4b-43b8-8b43-09e1e52d3bfd},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem that has not been satisfactorily solved. In this work, based on the range-based peer-to-peer RL using the ultra-wideband (UWB) ranging technique, we develop a novel UWB-based cooperative relative localization (CRL) solution which integrates the relative motion dynamics of each host-neighbor pair to build a unified dynamic model and takes the distances between the neighbors as bonus information. Observability analysis using differential geometry shows that the proposed CRL scheme can expand the observable subspace compared to other alternatives using only direct distances between the host agent and its neighbors. In addition, we apply the kernel-induced extended Kalman filter (EKF) to the CRL state estimation problem with the novel-designed Logarithmic-Versoria (LV) kernel to tackle heavy-tailed UWB noise. Sufficient conditions for the convergence of the fixed-point iteration involved in the estimation algorithm are also derived. Comparative Monte Carlo simulations demonstrate that the proposed CRL scheme combined with the LV-kernel EKF significantly improves the estimation accuracy owing to its robustness against both the measurement outliers and incorrect measurement covariance matrix initialization. Moreover, with the LV kernel, the estimation is still satisfactory when performing the fixed-point iteration only once for reduced computational complexity.},
note = {de Croon, G.C.H.E. (mentor); Pfeiffer, S.U. (mentor); Mazo, M. (graduation committee); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem that has not been satisfactorily solved. In this work, based on the range-based peer-to-peer RL using the ultra-wideband (UWB) ranging technique, we develop a novel UWB-based cooperative relative localization (CRL) solution which integrates the relative motion dynamics of each host-neighbor pair to build a unified dynamic model and takes the distances between the neighbors as bonus information. Observability analysis using differential geometry shows that the proposed CRL scheme can expand the observable subspace compared to other alternatives using only direct distances between the host agent and its neighbors. In addition, we apply the kernel-induced extended Kalman filter (EKF) to the CRL state estimation problem with the novel-designed Logarithmic-Versoria (LV) kernel to tackle heavy-tailed UWB noise. Sufficient conditions for the convergence of the fixed-point iteration involved in the estimation algorithm are also derived. Comparative Monte Carlo simulations demonstrate that the proposed CRL scheme combined with the LV-kernel EKF significantly improves the estimation accuracy owing to its robustness against both the measurement outliers and incorrect measurement covariance matrix initialization. Moreover, with the LV kernel, the estimation is still satisfactory when performing the fixed-point iteration only once for reduced computational complexity. |
Gervase Lovell-Prescod Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Smeur, E.J.J. (mentor); Ma, Z. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:baf5b7df-0e0f-45da-8b70-c7c95ead79b6,
title = {Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control},
author = {Gervase Lovell-Prescod},
url = {http://resolver.tudelft.nl/uuid:baf5b7df-0e0f-45da-8b70-c7c95ead79b6},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is particularly problematic for tailsitters as during hovering and vertical flight their wing is perpendicular to horizontal wind disturbances, often leading to actuator saturation. This paper presents a novel tailsitter micro air vehicle with two leading edge tilting rotors serving as its only actuators. It is shown that thrust vectoring generates sufficient control moment generation alleviating actuator saturation. Incremental nonlinear dynamic inversion (INDI) is implemented for attitude control and is demonstrated to compensate for unmodeled forces and moments whilst only relying on actuator control effectiveness and knowledge of actuator dynamics.},
note = {Smeur, E.J.J. (mentor); Ma, Z. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is particularly problematic for tailsitters as during hovering and vertical flight their wing is perpendicular to horizontal wind disturbances, often leading to actuator saturation. This paper presents a novel tailsitter micro air vehicle with two leading edge tilting rotors serving as its only actuators. It is shown that thrust vectoring generates sufficient control moment generation alleviating actuator saturation. Incremental nonlinear dynamic inversion (INDI) is implemented for attitude control and is demonstrated to compensate for unmodeled forces and moments whilst only relying on actuator control effectiveness and knowledge of actuator dynamics. |
Stefan Knoops Verification & Validation of Focus of Expansion estimation algorithm employing event-based optic flow (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:1caff7b3-5c17-4b80-abea-19c629ce6051,
title = {Verification & Validation of Focus of Expansion estimation algorithm employing event-based optic flow},
author = {Stefan Knoops},
url = {http://resolver.tudelft.nl/uuid:1caff7b3-5c17-4b80-abea-19c629ce6051},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Event based vision has recently attracted a lot of attention. High data rates and robustness to lighting variations make it a valid option for indoor navigation. The previously developed FAITH algorithm calculates a possible Focus of Expansion<br/>area based on negative half-planes generated by optic flow and by employing a RANSAC search, a fast and reliable Focus of Expansion estimation can be performed. This paper builds upon this algorithm by verifying and validating the<br/>algorithm, improving the derotation capabilities and optimising for computational efficiency. Compared to earlier work, a higher accuracy and an increased robustness are realised by improving the data handling. Simulator results show accuracies in the range of 2 to 5 degrees. Online testing on a drone shows accuracies of up to 5 degrees while obtaining calculation times of only<br/>2 · 10−3s and rates of 140Hz. Comparing the method to an alternative shows higher accuracy and better suitability to normal flow. Further research may contribute to more stable results and explore different hardware solutions.},
note = {de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Event based vision has recently attracted a lot of attention. High data rates and robustness to lighting variations make it a valid option for indoor navigation. The previously developed FAITH algorithm calculates a possible Focus of Expansion<br/>area based on negative half-planes generated by optic flow and by employing a RANSAC search, a fast and reliable Focus of Expansion estimation can be performed. This paper builds upon this algorithm by verifying and validating the<br/>algorithm, improving the derotation capabilities and optimising for computational efficiency. Compared to earlier work, a higher accuracy and an increased robustness are realised by improving the data handling. Simulator results show accuracies in the range of 2 to 5 degrees. Online testing on a drone shows accuracies of up to 5 degrees while obtaining calculation times of only<br/>2 · 10−3s and rates of 140Hz. Comparing the method to an alternative shows higher accuracy and better suitability to normal flow. Further research may contribute to more stable results and explore different hardware solutions. |
Rik Bouwmeester NanoFlowNet: Real-time optical flow estimation on a nano quadcopter (Masters Thesis) TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Paredes-Vallés, Federico (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:574db806-6096-4600-9926-3d737d1ee7da,
title = {NanoFlowNet: Real-time optical flow estimation on a nano quadcopter},
author = {Rik Bouwmeester},
url = {http://resolver.tudelft.nl/uuid:574db806-6096-4600-9926-3d737d1ee7da},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Nano quadcopters are small, agile, and cheap platforms well suited for deployment in narrow, cluttered environments. Due to their limited payload, nano quadcopters are highly constrained in processing power, rendering conventional vision-based methods for autonomous navigation incompatible. Recent machine learning developments promise high-performance perception at low latency, while novel ultra-low power microcontrollers augment the visual processing power of nano quadcopters. In this work, we present NanoFlowNet, an optical flow CNN that, based on the semantic segmentation architecture STDC-Seg, achieves real-time dense optical flow estimation on edge hardware. We use motion boundary ground truth to guide the learning of optical flow, improving performance with zero impact on latency. Validation on MPI-Sintel shows the high performance of the proposed method given its constrained architecture. We implement the CNN on the ultra-low power GAP8 microcontroller and demonstrate it in an obstacle avoidance application on a 34 g Bitcraze Crazyflie nano quadcopter.},
note = {de Croon, G.C.H.E. (mentor); Paredes-Vallés, Federico (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Nano quadcopters are small, agile, and cheap platforms well suited for deployment in narrow, cluttered environments. Due to their limited payload, nano quadcopters are highly constrained in processing power, rendering conventional vision-based methods for autonomous navigation incompatible. Recent machine learning developments promise high-performance perception at low latency, while novel ultra-low power microcontrollers augment the visual processing power of nano quadcopters. In this work, we present NanoFlowNet, an optical flow CNN that, based on the semantic segmentation architecture STDC-Seg, achieves real-time dense optical flow estimation on edge hardware. We use motion boundary ground truth to guide the learning of optical flow, improving performance with zero impact on latency. Validation on MPI-Sintel shows the high performance of the proposed method given its constrained architecture. We implement the CNN on the ultra-low power GAP8 microcontroller and demonstrate it in an obstacle avoidance application on a 34 g Bitcraze Crazyflie nano quadcopter. |
KARTIK SURYAVANSHI ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications (Masters Thesis) TU Delft Mechanical, Maritime and Materials Engineering, 2022, (van der Wijk, V. (mentor); Hamaza, S. (mentor); Herder, J.L. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:4e4e333d-643f-43b9-99cb-650d697f5baa,
title = {ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications},
author = {KARTIK SURYAVANSHI},
url = {http://resolver.tudelft.nl/uuid:4e4e333d-643f-43b9-99cb-650d697f5baa},
year = {2022},
date = {2022-01-01},
school = {TU Delft Mechanical, Maritime and Materials Engineering},
abstract = {In this work, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator with pantograph legs for spatial motions applied underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, mixed, planar without disassembly. For the purpose of this study, the manipulator is used in translation mode only. A kinematic model is developed and validated for the manipulator. The design and motion capabilities are also validated both by conducting dynamics simulations of a simplified model on MSC ADAMS, and experiments on the physical setup.<br/>The force-balanced nature of this novel design decouples the motion of the manipulator’s end-effector from the base, zeroing the reaction forces, making this design ideally suited for aerial manipulation in unmanned aerial vehicles (UAVs) applications, or generic floating-base applications.},
note = {van der Wijk, V. (mentor); Hamaza, S. (mentor); Herder, J.L. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
In this work, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator with pantograph legs for spatial motions applied underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, mixed, planar without disassembly. For the purpose of this study, the manipulator is used in translation mode only. A kinematic model is developed and validated for the manipulator. The design and motion capabilities are also validated both by conducting dynamics simulations of a simplified model on MSC ADAMS, and experiments on the physical setup.<br/>The force-balanced nature of this novel design decouples the motion of the manipulator’s end-effector from the base, zeroing the reaction forces, making this design ideally suited for aerial manipulation in unmanned aerial vehicles (UAVs) applications, or generic floating-base applications. |
Alessandro Collicelli Incremental Nonlinear Dynamic Inversion controller - structural vibration coupling: Study of the phenomenon and the existing solutions (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Smeur, E.J.J. (mentor); Pollack, T.S.C. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:66c34a84-5b47-49dd-b560-2836d9696e3c,
title = {Incremental Nonlinear Dynamic Inversion controller - structural vibration coupling: Study of the phenomenon and the existing solutions},
author = {Alessandro Collicelli},
url = {http://resolver.tudelft.nl/uuid:66c34a84-5b47-49dd-b560-2836d9696e3c},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Incremental Nonlinear Dynamics Inversion (INDI) flight controllers are sensor-based control systems, that are robust towards model uncertainty and with good disturbance rejection characteristics. These controllers show coupling effects in structural modes when implemented in specific flying vehicles with low-frequency structural motions. This paper investigates different INDI implementations, standard INDI, hybrid INDI, and notch filter placement in the INDI loop via simulation and flight tests on the Nederdrone. System identification of the structural characteristics of the vehicle and the system’s yaw dynamics are executed via ground vibration and hover flight tests. Closed-loop behaviour of theINDI inner-loop, disturbance rejection performance, and outer loop step-tracking performance was assessed with dedicated flight tests. The investigated INDI solutions show similar disturbance rejection and outer-loop step tracking performance, while the hybrid INDI solution performs a better nonlinear dynamic inversion. <br/>Index Terms—INDI, complementary filter, unmanned vehicle, flight control system structural motion coupling},
note = {Smeur, E.J.J. (mentor); Pollack, T.S.C. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Incremental Nonlinear Dynamics Inversion (INDI) flight controllers are sensor-based control systems, that are robust towards model uncertainty and with good disturbance rejection characteristics. These controllers show coupling effects in structural modes when implemented in specific flying vehicles with low-frequency structural motions. This paper investigates different INDI implementations, standard INDI, hybrid INDI, and notch filter placement in the INDI loop via simulation and flight tests on the Nederdrone. System identification of the structural characteristics of the vehicle and the system’s yaw dynamics are executed via ground vibration and hover flight tests. Closed-loop behaviour of theINDI inner-loop, disturbance rejection performance, and outer loop step-tracking performance was assessed with dedicated flight tests. The investigated INDI solutions show similar disturbance rejection and outer-loop step tracking performance, while the hybrid INDI solution performs a better nonlinear dynamic inversion. <br/>Index Terms—INDI, complementary filter, unmanned vehicle, flight control system structural motion coupling |
Chenyao Wang A Bio-inspired Sensing Approach to in-Gust Flight of Flapping Wing MAVs (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2022, (Hamaza, S. (mentor); de Croon, G.C.H.E. (graduation committee); Wang, S. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:6215dd57-8d16-466b-a286-341538675d2d,
title = {A Bio-inspired Sensing Approach to in-Gust Flight of Flapping Wing MAVs},
author = {Chenyao Wang},
url = {http://resolver.tudelft.nl/uuid:6215dd57-8d16-466b-a286-341538675d2d},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Simulation},
abstract = {Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. However, their in-gust flight performance and stability is still inferior to their biological counterparts. To this end, a simplified in-gust dynamic model, which could capture the main gust effects on FWMAVs, has been identified with real in-gust flights' data of a FWMAV, the Flapper Drone. Based on this model, an adaptive position and velocity controller was proposed with gain scheduling and implemented for in-gust flights under gust speeds up to 2.4 m/s. With this airflow-sensing based adaptive controller, the in-gust hovering stability of the Flapper Drone has been improved when the gust's intensity and frequency changes, comparing with the original fixed-gain cascaded PID controller case.},
note = {Hamaza, S. (mentor); de Croon, G.C.H.E. (graduation committee); Wang, S. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. However, their in-gust flight performance and stability is still inferior to their biological counterparts. To this end, a simplified in-gust dynamic model, which could capture the main gust effects on FWMAVs, has been identified with real in-gust flights' data of a FWMAV, the Flapper Drone. Based on this model, an adaptive position and velocity controller was proposed with gain scheduling and implemented for in-gust flights under gust speeds up to 2.4 m/s. With this airflow-sensing based adaptive controller, the in-gust hovering stability of the Flapper Drone has been improved when the gust's intensity and frequency changes, comparing with the original fixed-gain cascaded PID controller case. |
Midas Gossye Developing a modular tool to simulate regeneration power potential using orographic wind-hovering UAVs (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Remes, B.D.W. (mentor); Hwang, S. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:05f743a5-39c8-4860-9976-1eee532184a9,
title = {Developing a modular tool to simulate regeneration power potential using orographic wind-hovering UAVs},
author = {Midas Gossye},
url = {http://resolver.tudelft.nl/uuid:05f743a5-39c8-4860-9976-1eee532184a9},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {Applications of Unmanned Aerial Vehicles (UAV's) are often limited by flight endurance. To address the limitation of endurance, we propose a regenerative soaring method in this paper. The atmospheric energy from updrafts generated by obstacles such as hills and ships can be harvested by UAV's using a regenerative electric drivetrain. With fixed-wing aircraft, the vehicle can hover with specific wind conditions, and the battery can be recharged in the air while wind hovering. In order to research the feasibility of this regenerative soaring method, we present a model to estimate hovering locations and the amount of extractable power using the proposed method. The resulting modular regeneration simulation tool can efficiently determine the possible hovering locations and provide an estimate of the power regeneration potential for each hovering location, given the UAV's aerodynamic characteristics and wind-field conditions. Furthermore, a working regenerative drivetrain test setup was constructed and characterised that showcased promising conversion efficiencies and can be incorporated into existing UAV's easily.},
note = {Remes, B.D.W. (mentor); Hwang, S. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Applications of Unmanned Aerial Vehicles (UAV's) are often limited by flight endurance. To address the limitation of endurance, we propose a regenerative soaring method in this paper. The atmospheric energy from updrafts generated by obstacles such as hills and ships can be harvested by UAV's using a regenerative electric drivetrain. With fixed-wing aircraft, the vehicle can hover with specific wind conditions, and the battery can be recharged in the air while wind hovering. In order to research the feasibility of this regenerative soaring method, we present a model to estimate hovering locations and the amount of extractable power using the proposed method. The resulting modular regeneration simulation tool can efficiently determine the possible hovering locations and provide an estimate of the power regeneration potential for each hovering location, given the UAV's aerodynamic characteristics and wind-field conditions. Furthermore, a working regenerative drivetrain test setup was constructed and characterised that showcased promising conversion efficiencies and can be incorporated into existing UAV's easily. |
Hani Abu-Jurji Sensorless Impedance Control for Curved Surface Inspections Using the Omni-Drone Aerial Manipulator (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Hamaza, S. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:41222049-fb57-4f26-9b9e-85939af9fa63,
title = {Sensorless Impedance Control for Curved Surface Inspections Using the Omni-Drone Aerial Manipulator},
author = {Hani Abu-Jurji},
url = {http://resolver.tudelft.nl/uuid:41222049-fb57-4f26-9b9e-85939af9fa63},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {In this thesis, we develop a novel aerial manipulator system with an omni-directional workspace. The system comprises of a quadrotor platform equipped with a rotating five-bar linkage and serves the purpose of demonstrating the ability to perform contour tracing tasks on complex shapes, whilst airborne. In order to remove the dependency on additional force sensors and keep the design lightweight, an onboard force estimation scheme is implemented based on the generalized momentum of the system, using the torque feedback from the manipulator's motors. The computed force estimate feeds in a position-based impedance controller with the purpose of maintaining continuous contact through the manipulator's end-effector as the system traces contours of unknown curved geometry. Results demonstrate the estimator's ability to track the applied forces, while the impedance controller shows adequate contour following. The preliminary results obtained on both stationery and flight experiments validate this approach and show potential for aerial contact inspections of more complex structures.},
note = {Hamaza, S. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
In this thesis, we develop a novel aerial manipulator system with an omni-directional workspace. The system comprises of a quadrotor platform equipped with a rotating five-bar linkage and serves the purpose of demonstrating the ability to perform contour tracing tasks on complex shapes, whilst airborne. In order to remove the dependency on additional force sensors and keep the design lightweight, an onboard force estimation scheme is implemented based on the generalized momentum of the system, using the torque feedback from the manipulator's motors. The computed force estimate feeds in a position-based impedance controller with the purpose of maintaining continuous contact through the manipulator's end-effector as the system traces contours of unknown curved geometry. Results demonstrate the estimator's ability to track the applied forces, while the impedance controller shows adequate contour following. The preliminary results obtained on both stationery and flight experiments validate this approach and show potential for aerial contact inspections of more complex structures. |
Tomaso De Ponti Incremental Nonlinear Dynamic Inversion Controller for a Variable Skew Quad Plane (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:df815057-9ab6-42ee-8290-ce8099ffda68,
title = {Incremental Nonlinear Dynamic Inversion Controller for a Variable Skew Quad Plane},
author = {Tomaso De Ponti},
url = {http://resolver.tudelft.nl/uuid:df815057-9ab6-42ee-8290-ce8099ffda68},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {This paper presents the design of an Incremental Nonlinear Dynamic Inversion (INDI) controller for the novel platform VSQP. Part of the identified challenges is the develop- ment of a model for the actuator effectiveness and lift especially as a function of skew, the newly added degree of freedom. In particular it is assumed that the actuator effectiveness changes linearly with actuator state and that aerodynamic forces change quadratically with airspeed and depend mainly on the chordwise component of airspeed. Moreover, the position of the moving actuators is expressed as a function of the corresponding moment arm and the skew angle. The models and assumptions are verified through static and dynamic wind tunnel tests at the OJF of TuDelft. A WLS routine is used to solve the control allocation for the overactuated guidance loop. A lower cost is assigned to the use of the push motor so to steer the control allocation in its favor rather than commanding changes in attitude. A gradual switch of the hover motors in transition is achieved by scheduling the lift-pitch effectiveness with airspeed. Therefore, as airspeed increases the outerloop INDI controller evaluates that changing pitch to achieve a certain vertical acceleration set point results in an increasingly cheaper command allocation than changing thrust. An automatic skew controller is designed based on the developed control moment and lift models. The skew angle is scheduled with airspeed so to perform transition while also maximizing control authority. Finally, the controller is validated by performing multiple transitions inside the OJF windtunnel.},
note = {Smeur, E.J.J. (mentor); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This paper presents the design of an Incremental Nonlinear Dynamic Inversion (INDI) controller for the novel platform VSQP. Part of the identified challenges is the develop- ment of a model for the actuator effectiveness and lift especially as a function of skew, the newly added degree of freedom. In particular it is assumed that the actuator effectiveness changes linearly with actuator state and that aerodynamic forces change quadratically with airspeed and depend mainly on the chordwise component of airspeed. Moreover, the position of the moving actuators is expressed as a function of the corresponding moment arm and the skew angle. The models and assumptions are verified through static and dynamic wind tunnel tests at the OJF of TuDelft. A WLS routine is used to solve the control allocation for the overactuated guidance loop. A lower cost is assigned to the use of the push motor so to steer the control allocation in its favor rather than commanding changes in attitude. A gradual switch of the hover motors in transition is achieved by scheduling the lift-pitch effectiveness with airspeed. Therefore, as airspeed increases the outerloop INDI controller evaluates that changing pitch to achieve a certain vertical acceleration set point results in an increasingly cheaper command allocation than changing thrust. An automatic skew controller is designed based on the developed control moment and lift models. The skew angle is scheduled with airspeed so to perform transition while also maximizing control authority. Finally, the controller is validated by performing multiple transitions inside the OJF windtunnel. |
Prawien Kanhai Adaptive control with Multivariate B-Splines and INDI: A case study for Vertical take-off and landing drones (Masters Thesis) TU Delft Aerospace Engineering, 2022, (Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:fdd8e2fa-1372-4f79-aa05-6ab152e848e1,
title = {Adaptive control with Multivariate B-Splines and INDI: A case study for Vertical take-off and landing drones},
author = {Prawien Kanhai},
url = {http://resolver.tudelft.nl/uuid:fdd8e2fa-1372-4f79-aa05-6ab152e848e1},
year = {2022},
date = {2022-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {In recent years the popularity of VTOL (Vertical Take-Off and Landing) drones has increased significantly. Due to their hybrid design, these drones can take off and land vertically and fly horizontally, enabling them to land in difficult terrain and have a more extensive range than the Quadcopter counterpart. However, this hybrid design also introduces complex dynamics that are difficult to model. For adequate control, this requires an adaptive element that can compensate for the modeling errors. Due to the significant change in flight conditions, adaptations must be made effectively over the entire flight envelope of a VTOL drone. This thesis introduces an adaptive controller that can cope with the large flight envelope and varying flight conditions of the VTOL drone and can adapt the controller effectively and store previous adaptations with multivariate B-splines during real-time flights.},
note = {Smeur, E.J.J. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
In recent years the popularity of VTOL (Vertical Take-Off and Landing) drones has increased significantly. Due to their hybrid design, these drones can take off and land vertically and fly horizontally, enabling them to land in difficult terrain and have a more extensive range than the Quadcopter counterpart. However, this hybrid design also introduces complex dynamics that are difficult to model. For adequate control, this requires an adaptive element that can compensate for the modeling errors. Due to the significant change in flight conditions, adaptations must be made effectively over the entire flight envelope of a VTOL drone. This thesis introduces an adaptive controller that can cope with the large flight envelope and varying flight conditions of the VTOL drone and can adapt the controller effectively and store previous adaptations with multivariate B-splines during real-time flights. |