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 « 5 of 14 »

2021

Journal Articles

Seng Man Wong; Hann Woei Ho; Mohd Zulkifly Abdullah

Design and Fabrication of a Dual Rotor-Embedded Wing Vertical Take-Off and Landing Unmanned Aerial Vehicle (Journal Article)

In: Unmanned Systems, vol. 9, no. 1, pp. 45–63, 2021, ISSN: 2301-3850.

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H. Y. Lee; H. W. Ho; Y. Zhou

Deep Learning-based Monocular Obstacle Avoidance for Unmanned Aerial Vehicle Navigation in Tree Plantations: Faster Region-based Convolutional Neural Network Approach (Journal Article)

In: Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 101, no. 1, 2021, ISSN: 0921-0296.

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data

Sven Pfeiffer; Christophe Wagter; Guido Croon

Data underlying the publication: "A Computationally Efficient Moving Horizon Estimator for UWB Localization on Small Quadrotors"" (data)

2021.

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Christophe De Wagter; Federico Paredes-Vallés; Nilay Sheth; Guido C. H. E. De Croon

Logfiles of the Artificial Intelligence behind the winning entry to the 2019 AI Robotic Racing Competition (data)

2021.

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Benjamin Keltjens; Tom Van Dijk; Guido De Croon

Self-Supervised Monocular Depth Estimation of Untextured Indoor Rotated Scenes (data)

2021.

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Guido De Croon; Christophe De Wagter; Tobias Seidl

Replication Data for: "Enhancing optical flow-based control by learning visual appearance cues for flying robots" (data)

2021.

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Proceedings Articles

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

Developing a modular tool to simulate regeneration power potential using orographic wind-hovering uavs (Proceedings Article)

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 116–123, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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G. Gonzalez Archundia; G. C. H. E. Croon; D. A. Olejnik; M. Karasek

Position controller for a flapping wing drone using uwb (Proceedings Article)

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 85–92, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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E. D. Vroon; Jim Rojer; G. C. H. E. Croon

Motion-based mav detection in gps-denied environments (Proceedings Article)

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 42–49, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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D. C. Wijngaarden; E. J. J. Smeur; B. D. W. Remes

Flight code convergence: fixedwing, rotorcraft, hybrid (Proceedings Article)

In: 12th International Micro Air Vehicle Conference, pp. 21–27, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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L. F. A. Dellemann; C. Wagter

Hybrid UAV Attitude Control using INDI and Dynamic Tilt-Twist (Proceedings Article)

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 131–136, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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J. M. Westenberger; C. Wagter; G. C. H. E. Croon

Onboard Time-Optimal Control for Tiny Quadcopters (Proceedings Article)

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 93–100, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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H. J. Karssies; C. Wagter

XINCA: Extended Incremental Non-linear Control Allocation on the TU Delft Quadplane (Proceedings Article)

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 74–84, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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

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

In: Martinez-Carranza, Jose (Ed.): Proceedings of the 12th International Micro Air Vehicle Conference, pp. 28–34, 2021, (12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021).

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Daniel Willemsen; Mario Coppola; Guido C. H. E. Croon

MAMBPO: Sample-efficient multi-robot reinforcement learning using learned world models (Proceedings Article)

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 5635–5640, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).

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Nikhil Wessendorp; Raoul Dinaux; Julien Dupeyroux; Guido C. H. E. Croon

Obstacle Avoidance onboard MAVs using a FMCW Radar (Proceedings Article)

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 117–122, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).

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Stavrow Bahnam; Sven Pfeiffer; Guido C. H. E. Croon

Stereo Visual Inertial Odometry for Robots with Limited Computational Resources* (Proceedings Article)

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 9154–9159, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (This work was supported by Royal Brinkman 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. ; 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).

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Bardienus P. Duisterhof; Shushuai Li; Javier Burgues; Vijay Janapa Reddi; Guido C. H. E. Croon

Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments (Proceedings Article)

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 9099–9106, IEEE, United States, 2021, ISBN: 978-1-6654-1715-0, (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 27-09-2021 Through 01-10-2021).

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Federico Paredes-Vallés; Guido C. H. E. Croon

Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancy (Proceedings Article)

In: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3445–3454, IEEE, United States, 2021, ISBN: 978-1-6654-4510-8, (2021 IEEE/CVF Conference on Computer Vision<br/>and Pattern Recognition, CVPR 2021 ; Conference date: 20-06-2021 Through 25-06-2021).

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Yingfu Xu; Guido C. H. E. Croon

CNN-based Ego-Motion Estimation for Fast MAV Maneuvers (Proceedings Article)

In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 7606–7612, IEEE, United States, 2021, ISBN: 978-1-7281-9078-5, (ICRA 2021 : IEEE International Conference on Robotics and Automation ; Conference date: 30-05-2021 Through 05-06-2021).

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Bardienus P. Duisterhof; Srivatsan Krishnan; Jonathan J. Cruz; Colby R. Banbury; William Fu; Aleksandra Faust; Guido C. H. E. Croon; Vijay Janapa Reddi

Tiny Robot Learning (tinyRL) for Source Seeking on a Nano Quadcopter (Proceedings Article)

In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 7242–7248, IEEE, United States, 2021, ISBN: 978-1-7281-9078-5, (ICRA 2021 : IEEE International Conference on Robotics and Automation ; Conference date: 30-05-2021 Through 05-06-2021).

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Julien Dupeyroux; Jesse J. Hagenaars; Federico Paredes-Vallés; Guido C. H. E. Croon

Neuromorphic control for optic-flow-based landing of MAVs using the Loihi processor (Proceedings Article)

In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 96–102, IEEE, United States, 2021, ISBN: 978-1-7281-9078-5, (ICRA 2021 : IEEE International Conference on Robotics and Automation ; Conference date: 30-05-2021 Through 05-06-2021).

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Masters Theses

Bas Beurden

Scalable Positioning Method for MAV Localisation using Two onboard UWB Tags (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (Pfeiffer, S.U. (mentor); de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Marina Gonzalez Alvarez

Evolved Neuromorphic Altitude Controller for an Autonomous Blimp (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (Dupeyroux, J.J.G. (mentor); de Croon, G.C.H.E. (graduation committee); Corradi, Federico (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Sunyi Wang

Thermistor-based airflow sensing on a flapping wing micro air vehicle (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (van Oudheusden, B.W. (mentor); de Croon, G.C.H.E. (graduation committee); Olejnik, D.A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Zhouxin Ge

End-to-End Hierarchical Reinforcement Learning for Adaptive Flight Control: A method for model-independent control through Proximal Policy Optimization with learned Options (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (van Kampen, E. (mentor); de Croon, G.C.H.E. (graduation committee); Mitici, M.A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Guillermo Gonzalez Archundia

Position controller for a flapping-wing drone using ultra wide band (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Erik Vroon

Motion-based MAV Detection in GPS-denied Environments (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); Rojer, Jim (mentor); Guo, J. (graduation committee); de Visser, C.C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Benjamin Keltjens

Self-Supervised Monocular Depth Estimation of Untextured Indoor Rotated Scenes (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); van Gemert, J.C. (graduation committee); Smeur, E.J.J. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Nicholas Dvorsky

Feasibility of using electric drone main rotors for electricity generation vs. solar panels for indefinite flight (Masters Thesis)

TU Delft Electrical Engineering, Mathematics and Computer Science, 2021, (Zaaijer, M B (mentor); de Croon, G.C.H.E. (graduation committee); Schmehl, R. (graduation committee); Remes, B.D.W. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Bas Roulaux

Attitude Control of Flapping-Wing Air Vehicles (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Precision and Microsystems Engineering, 2021, (Goosen, J.F.L. (mentor); Remes, B.D.W. (graduation committee); van der Wijk, V. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Nikhil Wessendorp

Obstacle Avoidance onboard MAVs using a FMCW RADAR (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (Dupeyroux, J.J.G. (mentor); de Croon, G.C.H.E. (mentor); Fioranelli, F. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Quincy Booster

Urban MAV: A visual odometry dataset (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Rohan Chotalal

High-Dimensional Optimal State-Feedback Mapping using Deep Neural Networks for Agile Quadrotor Flight (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Raoul Dinaux

Obstacle Detection and Avoidance onboard an MAV using a Monocular Event-based Camera (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); Dupeyroux, J.J.G. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jelle Westenberger

Time-Optimal Control for Tiny Quadcopters (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Mark Woude

Acoustic-Based Aircraft Detection and Ego-Noise Suppression: for Micro Aerial Vehicles (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (van Dijk, Tom (mentor); de Croon, G.C.H.E. (mentor); Snellen, M. (graduation committee); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Diego De Buysscher

Safe Curriculum Learning for Linear Systems With Unknown Dynamics in Primary Flight Control (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (de Croon, G.C.H.E. (mentor); van Kampen, E. (graduation committee); Mooij, E. (graduation committee); Pollack, T.S.C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Izaak Geursen

Fleet Planning Under Demand and Fuel Price Uncertainty Using Actor-Critic Reinforcement Learning (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (Lopes Dos Santos, Bruno (mentor); Yorke-Smith, Neil (graduation committee); de Croon, Guido (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Daniël Willemsen

Sample-efficient multi-agent reinforcement learning using learned world models (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (Coppola, M. (mentor); de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Max Kemmeren

Improving the Performance of INDI Flight Control for a Quadrotor in the Ceiling Effect (Masters Thesis)

TU Delft Aerospace Engineering, 2021, (Smeur, E.J.J. (mentor); de Wagter, C. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Miscellaneous

Felix Stache; Jonas Westheider; Federico Magistri; Marija Popović; Cyrill Stachniss

Adaptive Path Planning for UAV-based Multi-Resolution Semantic Segmentation (Miscellaneous)

2021.

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Liren Jin; Julius Rückin; Stefan H. Kiss; Teresa Vidal-Calleja; Marija Popović

Adaptive-Resolution Field Mapping Using Gaussian Process Fusion with Integral Kernels (Miscellaneous)

2021.

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Julius Rückin; Liren Jin; Marija Popović

Adaptive Informative Path Planning Using Deep Reinforcement Learning for UAV-based Active Sensing (Miscellaneous)

2021.

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Benjamin Keltjens; Tom Dijk; Guido Croon

Self-Supervised Monocular Depth Estimation of Untextured Indoor Rotated Scenes (Miscellaneous)

2021.

(Links | BibTeX)

Jesse Hagenaars; Federico Paredes-Vallés; Guido Croon

Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networks (Miscellaneous)

2021.

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

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

2021.

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Mario Coppola; Jian Guo; Eberhard Gill; Guido C. H. E. Croon

A model-based framework for learning transparent swarm behaviors (Miscellaneous)

2021.

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Daniël Willemsen; Mario Coppola; Guido C. H. E. Croon

MAMBPO: Sample-efficient multi-robot reinforcement learning using learned world models (Miscellaneous)

2021.

(Links | BibTeX)

Nikhil Wessendorp; Raoul Dinaux; Julien Dupeyroux; Guido Croon

Obstacle Avoidance onboard MAVs using a FMCW RADAR (Miscellaneous)

2021.

(Links | BibTeX)

693 entries « 5 of 14 »