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

766 entries « 5 of 16 »

2022

data

Stein Stroobants; Julien Dupeyroux; Guido Croon

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

2022.

(Links | BibTeX)

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.

(Links | BibTeX)

Book Chapters

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

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

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

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Proceedings Articles

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

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

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

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

Improving the computational efficiency of ROVIO (Proceedings Article)

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

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

Preface (Proceedings Article)

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

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

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

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

(Links | BibTeX)

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).

(Links | BibTeX)

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

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

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

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

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

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

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

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

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

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Stein Stroobants; Julien Dupeyroux; Guido De Croon

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

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

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

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

In: Proceedings of the 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS), pp. 296–299, IEEE, United States, 2022, ISBN: 978-1-6654-0997-1, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems , AICAS 2022 ; Conference date: 13-06-2022 Through 15-06-2022).

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

A toolbox for neuromorphic perception in robotics (Proceedings Article)

In: Proceedings - 2022 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022, 2022, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 8th International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2022 ; Conference date: 22-06-2022 Through 24-06-2022).

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

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

In: 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022, pp. 197–206, Institute of Electrical and Electronics Engineers (IEEE), United States, 2022, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 ; Conference date: 21-06-2022 Through 24-06-2022).

(Links | BibTeX)

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

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

In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 2989–2994, 2022, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).

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

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

In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 85–90, 2022, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).

(Links | BibTeX)

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

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

In: Pappas, George J.; Kumar, Vijay (Ed.): 2022 IEEE International Conference on Robotics and Automation, ICRA 2022, pp. 9689–9695, 2022, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022).

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

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

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

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

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

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, pp. 3340–3347, 2022, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : IROS 2022, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022).

(Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

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)).

(Abstract | Links | BibTeX)

Fréderic Dupon

UWB Localisation: Distributed UWB inter-ranging for MAV swarms in large GNSS-denied environments (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Pfeiffer, S.U. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Pietro Campolucci

Model and Actuator Based Trajectory Tracking for Incremental Nonlinear Dynamic Inversion Controllers (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (Smeur, E.J.J. (mentor); Mancinelli, A. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Alejandro Barberia Chueca

Onboard Drone Detection with Event Cameras (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (Dupeyroux, J.J.G. (mentor); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Yvonne Eggers

Intrinsic Plasticity for Robust Event-Based Optic Flow Estimation (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Dupeyroux, J.J.G. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Robin Ferede

An Adaptive Control Strategy for Neural Network based Optimal Quadcopter Controllers (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor); Izzo, Dario (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jan Verheyen

Insect-Inspired Visual Guidance: are current familiarity-based models ready for long-ranged navigation? (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Dupeyroux, J.J.G. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Erik Oever

An artificial neural network based method for grid-free acoustic source localization using multiple input frequencies (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Shawn Schröter

We fly as one: Design and Joint Control of a Conjoined Biplane and Quadrotor (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)).

(Abstract | Links | BibTeX)

Jingyi LU

Evolving-to-Learn with Spiking Neural Networks (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Hagenaars, J.J. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Tommy Tran

Semantic Segmentation using Deep Neural Networks for MAVs (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Xu, Y. (mentor); de Wagter, C. (graduation committee); van Gemert, J.C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Chris Groen

Grammatical Evolution for Optimising Drone Behaviors (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (Li, S. (mentor); de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Aaron Bracke

DroneCrane (Masters Thesis)

TU Delft Aerospace Engineering; Džubinský, Maxim, 2022, (Smeur, E.J.J. (mentor); Eleftheroglou, N. (graduation committee); van 't Hoff, J.A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Marco Xausa

Aerial Deployment of an Autonomous Remote Sensing Network (Masters Thesis)

TU Delft Aerospace Engineering; van der Saag, Jelmer, 2022, (Dransfeld, C.A. (mentor); Hamaza, S. (mentor); Hwang, S. (mentor); Gomes de Paula, N.C. (mentor); Delft University of Technology (degree granting institution)).

(Links | BibTeX)

Roelof Stikker

Self-supervised finetuning of stereo matching algorithms (Masters Thesis)

TU Delft Aerospace Engineering, 2022, (de Croon, G.C.H.E. (mentor); Pfeiffer, S.U. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Miscellaneous

Julius Rückin; Liren Jin; Federico Magistri; Cyrill Stachniss; Marija Popović

Informative Path Planning for Active Learning in Aerial Semantic Mapping (Miscellaneous)

2022.

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

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

2022.

(Links | BibTeX)

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

Rethinking Event-based Optical Flow: Iterative Deblurring as an Alternative to Correlation Volumes (Miscellaneous)

2022.

(Links | BibTeX)

Rik J. Bouwmeester; Federico Paredes-Vallés; Guido C. H. E. Croon

NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter (Miscellaneous)

2022.

(Links | BibTeX)

766 entries « 5 of 16 »