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 « 6 of 14 »

2021

Miscellaneous

Julien Dupeyroux; Stein Stroobants; Guido Croon

A toolbox for neuromorphic sensing in robotics (Miscellaneous)

2021.

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M. Karasek; Rick Ruisink

Attitude control mechanism for a flapping wing aerial vehicle (Miscellaneous)

2021, (B64C).

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Marina González-Álvarez; Julien Dupeyroux; Federico Corradi; Guido Croon

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

2021.

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Stein Stroobants; Julien Dupeyroux; Guido Croon

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

2021.

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

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

2021.

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Nitin J. Sanket; Chahat Deep Singh; Chethan M. Parameshwara; Cornelia Fermüller; Guido C. H. E. Croon; Yiannis Aloimonos

EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following (Miscellaneous)

2021.

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Sven Pfeiffer; Christophe Wagter; Guido Croon

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

2021.

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

The Obstacle Detection and Avoidance Dataset for Drones (Miscellaneous)

2021.

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PhD Theses

M. Coppola

Automatic Design of Verifiable Robot Swarms (PhD Thesis)

Delft University of Technology, 2021, ISBN: 978-94-6421-287-7.

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S. Li

Autonomous Swarms of Tiny Flying Robots (PhD Thesis)

Delft University of Technology, 2021, ISBN: 978-94-6366-472-1.

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2020

Journal Articles

Shuo Li; Michaël M. O. I. Ozo; Christophe De Wagter; Guido C. H. E. Croon

Autonomous drone race: A computationally efficient vision-based navigation and control strategy (Journal Article)

In: Robotics and Autonomous Systems, vol. 133, 2020, ISSN: 0921-8890.

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Shuo Li; Micha"el M. O. I. Ozo; Christophe De Wagter; Guido C. H. E. Croon

Autonomous drone race: A computationally efficient vision-based navigation and control strategy (Journal Article)

In: Robotics and Autonomous Systems, vol. 133, 2020, ISSN: 0921-8890.

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J.J. Hagenaars, F. Paredes-Vallés, S.M. Bohté, G.C.H.E. de Croon

Evolved Neuromorphic Control for High Speed Divergence-Based Landings of MAVs (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6239 - 6246, 2020.

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Jesse J. Hagenaars; Federico Paredes-Vallés; Sander M. Bohté; Guido C. H. E. De Croon

Evolved Neuromorphic Control for High Speed Divergence-Based Landings of MAVs (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6239–6246, 2020, ISSN: 2377-3766.

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Guido Croon

Flapping wing drones show off their skills (Journal Article)

In: Science Robotics, vol. 5, no. 44, 2020, ISSN: 2470-9476.

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Guido de Croon

Flapping wing drones show off their skills (Journal Article)

In: Science Robotics, vol. 5, no. 24, 2020.

(Abstract | Links | BibTeX)

Mario Coppola; Kimberly N. McGuire; Christophe De Wagter; Guido C. H. E. Croon

A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints (Journal Article)

In: Frontiers In Robotics and AI, vol. 7, 2020, ISSN: 2296-9144.

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Mario Coppola, Kimberly N. McGuire, Christophe De Wagter; Guido C. H. E. de Croon

A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints (Journal Article)

In: Frontiers in Robotics and AI, 2020.

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Kirk Y. W. Scheper; Guido Croon

Evolution of robust high speed optical-flow-based landing for autonomous MAVs (Journal Article)

In: Robotics and Autonomous Systems, vol. 124, 2020, ISSN: 0921-8890.

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Diana A. Olejnik; Bardienus P. Duisterhof; Matej Karásek; Kirk Y. W. Scheper; Tom Van Dijk; Guido C. H. E. De Croon

A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks (Journal Article)

In: Unmanned Systems, vol. 8, no. 4, pp. 287–294, 2020, ISSN: 2301-3850.

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Marija Popovic; Florian Thomas; Sotiris Papatheodorou; Nils Funk; Teresa Vidal-Calleja; Stefan Leutenegger

Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation (Journal Article)

In: 2020.

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Borrdephong Rattanagraikanakorn; Michiel Schuurman; Derek I. Gransden; Riender Happee; Christophe De Wagter; Alexei Sharpanskykh; Henk A. P. Blom

Modelling head injury due to unmanned aircraft systems collision: Crash dummy vs human body (Journal Article)

In: International Journal of Crashworthiness, vol. 27, no. 2, pp. 400–413, 2020, ISSN: 1358-8265.

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Yiduo Wang; Nils Funk; Milad Ramezani; Sotiris Papatheodorou; Marija Popovic; Marco Camurri; Stefan Leutenegger; Maurice Fallon

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks (Journal Article)

In: 2020.

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Nils Funk; Juan Tarrio; Sotiris Papatheodorou; Marija Popovic; Pablo F. Alcantarilla; Stefan Leutenegger

Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning (Journal Article)

In: 2020.

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Nikhil D. Potdar; Guido C. H. E. Croon; Javier Alonso-Mora

Online trajectory planning and control of a MAV payload system in dynamic environments (Journal Article)

In: Autonomous Robots, vol. 44, no. 6, pp. 1065–1089, 2020, ISSN: 0929-5593.

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Sihao Sun; X. Wang; Q. P. Chu; C. C. Visser

Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors (Journal Article)

In: IEEE Transactions on Robotics, vol. 37, no. 1, pp. 116–130, 2020, ISSN: 1552-3098, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Ewoud Smeur; Murat Bronz; Guido Croon

Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter Unmanned Air Vehicle (Journal Article)

In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 43, no. 2, pp. 274–287, 2020, ISSN: 0731-5090.

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Sihao Sun; X. Wang; Q. P. Chu; C. C. Visser

Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors (Journal Article)

In: IEEE Transactions on Robotics, vol. 37, no. 1, pp. 116–130, 2020, ISSN: 1552-3098, (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.).

(Links | BibTeX)

Christophe De Wagter; Bart Remes; Rick Ruijsink; Freek Van Tienen; Erik Van Der Horst

Design and Testing of a Vertical Take-Off and Landing UAV Optimized for Carrying a Hydrogen Fuel Cell with a Pressure Tank (Journal Article)

In: Unmanned Systems, vol. 8, no. 4, pp. 279–285, 2020, ISSN: 2301-3850.

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Shuo Li; Erik Horst; Philipp Duernay; Christophe De Wagter; Guido C. H. E. Croon

Visual model-predictive localization for computationally efficient autonomous racing of a 72-g drone (Journal Article)

In: Journal of Field Robotics, vol. 37, no. 4, pp. 667–692, 2020, ISSN: 1556-4959.

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D. N. W. M. Heitzig; B. W. Oudheusden; D. Olejnik; M. Karásek

Effects of asymmetrical inflow in forward flight on the deformation of interacting flapping wings (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 12, 2020, ISSN: 1756-8293.

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Books

Tom Dijk

Self-­Supervised Learning for Visual Obstacle Avoidance (Book)

Micro Air Vehicle Lab (MAVLab), TU Delft, 2020.

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data

Dirk Wijnker; Tom Van Dijk; Mirjam Snellen; Guido De Croon; Christophe De Wagter

Hear-and-Avoid: Acoustic Detection of General Aviation Aircraft for UAV (data)

2020.

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Proceedings Articles

Shuo Li; Ekin Ozturk; Christophe De Wagter; Guido C. H. E. De Croon; Dario Izzo

Aggressive Online Control of a Quadrotor via Deep Network Representations of Optimality Principles (Proceedings Article)

In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, pp. 6282–6287, Institute of Electrical and Electronics Engineers (IEEE), United States, 2020, (2020 IEEE International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020).

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Shuo Li; Ekin Ozturk; Christophe De Wagter; Guido C. H. E. De Croon; Dario Izzo

Aggressive Online Control of a Quadrotor via Deep Network Representations of Optimality Principles (Proceedings Article)

In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, pp. 6282–6287, Institute of Electrical and Electronics Engineers (IEEE), United States, 2020, (2020 IEEE International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020).

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J. B. W. Nijboer; S. F. Armanini; M. Karásek; C. C. Visser

Longitudinal grey-box model identification of a tailless flapping wing mav based on free-flight data (Proceedings Article)

In: AIAA Scitech 2020 Forum, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2020, (AIAA Scitech Forum, 2020 ; Conference date: 06-01-2020 Through 10-01-2020).

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B. Rattanagraikanakorn; H. A. P. Blom; Alexei Sharpanskykh; C. Wagter; C. Jiang; M. J. Schuurman; Derek I. Gransden; R. Happee

Modeling and Simulating Human Fatality due to Quadrotor UAS Impact (Proceedings Article)

In: AIAA AVIATION 2020 FORUM, 2020, (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.; AIAA Aviation Forum ; Conference date: 15-06-2020 Through 19-06-2020).

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Masters Theses

Eduardo Falcão da Cruz Rodrigues Lourenço

An intelligent leader-follower neural controller in adverse observability scenarios (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Croon, G.C.H.E. (mentor); Coppola, M. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Rano Veder

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

TU Delft Aerospace Engineering, 2020, (de Croon, G.C.H.E. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Bart Duisterhof

Sniffy Bug: A fully autonomous and collaborative swarm of gas-seeking nano quadcopters in cluttered environments (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Croon, G.C.H.E. (mentor); Verhoeven, C.J.M. (graduation committee); de Wagter, C. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Karan Bains

System Identification of the Delfly Nimble: Modeling of the Lateral Body Dynamics (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Visser, C.C. (mentor); Olejnik, D.A. (mentor); Karasek, M. (mentor); Armanini, S.F. (mentor); de Croon, G.C.H.E. (graduation committee); Mooij, E. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Lars Dellemann

Hybrid UAV Attitude Control using INDI and Dynamic Tilt-Twist (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Wagter, C. (mentor); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Avinash Mattar

Acoustic Perception in Intelligent Vehicles using a single microphone system (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Cognitive Robotics; TU Delft Intelligent Vehicles, 2020, (Kooij, J.F.P. (mentor); Hehn, T.M. (mentor); Gavrila, D. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Nishant Patel

Dynamic Modelling and State Estimation of a High Speed Racing Drone (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Croon, G.C.H.E. (mentor); Xu, Y. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Dennis Wijngaarden

Implicit Coordinated Tactical Avoidance for UAVs within a Geofenced Airspace (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (Ellerbroek, Joost (mentor); Remes, B.D.W. (mentor); Hoekstra, J.M. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jan Karssies

Extended Incremental Non-linear Control Allocation on the TU Delft Quadplane (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Wagter, C. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Louis Cheung

Fuel Cell Drone for Soil Monitoring (Masters Thesis)

TU Delft Applied Sciences; TU Delft Electrical Engineering, Mathematics and Computer Science, 2020, (Aravind, P.V. (mentor); Bhattacharya, Nandini (graduation committee); Remes, Bart (graduation committee); Tambi, Yash (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Bas Büller

Supervised Learning in Spiking Neural Networks (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Croon, Guido (mentor); Paredes Valles, Federico (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

David Jong

How do deep neural networks perform optical flow estimation?: A neuropsychology-inspired study (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Croon, G.C.H.E. (mentor); Paredes-Vallés, Federico (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Simon Spronk

An NonlinearModel Predictive Control Approach to Autonomous UAV Racing Trajectory Generation & Control (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (de Croon, Guido (mentor); Li, Shuo (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

693 entries « 6 of 14 »