2017
|
Masters Theses
|
T. I. Braber Vision-based stabilization of micro quadrotors (Masters Thesis) TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Delft Center for Systems and Control, 2017, (Babuska, Robert (mentor); de Croon, Guido (mentor); de Wagter, Christophe (mentor); de Bruin, Tim (graduation committee); Bregman, Sander (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:6e3ce742-a974-491d-97c2-1cafc090b3d9,
title = {Vision-based stabilization of micro quadrotors},
author = {T. I. Braber},
url = {http://resolver.tudelft.nl/uuid:6e3ce742-a974-491d-97c2-1cafc090b3d9},
year = {2017},
date = {2017-01-01},
school = {TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Delft Center for Systems and Control},
abstract = {On-board stabilization of quadrotors is often done using an Inertial Measurement Unit (IMU), aided by additional sensors to combat the IMU drift. For example, GPS readings can aid when flying outdoors, or when flying in GPS denied environments, such as indoors, visual information from one or more camera modules can be used.
A single downwards facing camera however cannot determine the absolute height of the quadrotor, leaving the results from the Optical Flow (OF) up to scale. To estimate the velocity of the quadrotor an additional range sensor, such as an Ultrasonic Sensor (US), is used to solve this scaling problem.
These solutions are difficult to scale down to micro quadrotors as the platform becomes too small to fit and lift additional sensors. Therefore stabilizing a quadrotor with a single camera and IMU only would pave the way for the development of even smaller quadrotors. This master thesis presents an adaptive control strategy to stabilize a micro quadrotor in all
three axes using only an IMU and a monocular camera. This is achieved by extending the stability based approach for a single, vertical, axis by De Croon in Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy[1]. This stability based method ncreases the control gain in the visual feedback loop until the quadrotor detects it is oscillating by detecting that the covariance of the given thrust inputs and the measured divergence passes a threshold. Next the height can be estimated using the predetermined relationship between gain and height at which these self-induced oscillations occur and proper gains can be set for the estimated height.
An analysis is done in simulation to present proof of concept of the stabilization method in three axis and to determine the effects of scaling and the effects of varying effective Frames per Second (FPS) caused by computations. It was shown that the adaptive gain strategy can stabilize the simulated quadrotor and prevent it from drifting. Furthermore, the control gains were scaled such that the effects of scaling a quadrotor could be mostly negated, though at about a tenth of the scale the simulated noise had such an influence that the scaled gains could not negate it anymore. Furthermore, the minimum effective FPS required to stabilize an ARDrone 2 was determined to be 15 FPS, and it was shown that an increase in effective FPS aids stabilizing the smaller scale quadrotors that became unstable due to the scaling effects.
Furthermore, flights on an Parrot ARDrone 2 and Parrot Bebop are performed to show the usability of this control strategy in real life. It was shown that both quadrotors could achieve stable hover without drifting at multiple heights, using various strategies.
note = {Babuska, Robert (mentor); de Croon, Guido (mentor); de Wagter, Christophe (mentor); de Bruin, Tim (graduation committee); Bregman, Sander (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
On-board stabilization of quadrotors is often done using an Inertial Measurement Unit (IMU), aided by additional sensors to combat the IMU drift. For example, GPS readings can aid when flying outdoors, or when flying in GPS denied environments, such as indoors, visual information from one or more camera modules can be used. <br/>A single downwards facing camera however cannot determine the absolute height of the quadrotor, leaving the results from the Optical Flow (OF) up to scale. To estimate the velocity of the quadrotor an additional range sensor, such as an Ultrasonic Sensor (US), is used to solve this scaling problem.<br/>These solutions are difficult to scale down to micro quadrotors as the platform becomes too small to fit and lift additional sensors. Therefore stabilizing a quadrotor with a single camera and IMU only would pave the way for the development of even smaller quadrotors. This master thesis presents an adaptive control strategy to stabilize a micro quadrotor in all<br/>three axes using only an IMU and a monocular camera. This is achieved by extending the stability based approach for a single, vertical, axis by De Croon in Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy[1]. This stability based method ncreases the control gain in the visual feedback loop until the quadrotor detects it is oscillating by detecting that the covariance of the given thrust inputs and the measured divergence passes a threshold. Next the height can be estimated using the predetermined relationship between gain and height at which these self-induced oscillations occur and proper gains can be set for the estimated height. <br/>An analysis is done in simulation to present proof of concept of the stabilization method in three axis and to determine the effects of scaling and the effects of varying effective Frames per Second (FPS) caused by computations. It was shown that the adaptive gain strategy can stabilize the simulated quadrotor and prevent it from drifting. Furthermore, the control gains were scaled such that the effects of scaling a quadrotor could be mostly negated, though at about a tenth of the scale the simulated noise had such an influence that the scaled gains could not negate it anymore. Furthermore, the minimum effective FPS required to stabilize an ARDrone 2 was determined to be 15 FPS, and it was shown that an increase in effective FPS aids stabilizing the smaller scale quadrotors that became unstable due to the scaling effects.<br/>Furthermore, flights on an Parrot ARDrone 2 and Parrot Bebop are performed to show the usability of this control strategy in real life. It was shown that both quadrotors could achieve stable hover without drifting at multiple heights, using various strategies.<br |
Niek Klein Koerkamp Human Control Performance in Solving Multi-UAV Dynamic Vehicle Routing Problems Using an Ecological Interface (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2017, (Borst, C. (mentor); de Croon, G.C.H.E. (graduation committee); van Paassen, M.M. (graduation committee); Mulder, Max (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:d00ade0b-7350-4d28-baf7-55d56a185032,
title = {Human Control Performance in Solving Multi-UAV Dynamic Vehicle Routing Problems Using an Ecological Interface},
author = {Niek Klein Koerkamp},
url = {http://resolver.tudelft.nl/uuid:d00ade0b-7350-4d28-baf7-55d56a185032},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Simulation},
abstract = {Real-time optimization of Vehicle Routing Problems during mission operations raises concerns regarding reliability of obtaining a solution and solution time. Improvements in control performance by having a human-in-the-loop might be possible by leveraging human visual pattern recognition qualities. By developing an ecological interface, supporting the operator in controlling multiple Unmanned Aerial Vehicles in a simulated payload delivery mission, and by conducting a human-in-the-loop experiment, interface effectiveness and human control performance in Dynamic Vehicle Routing Problems was investigated. Results show the ecological interface offers good support and scales well with problem size. Results also show participants can in some cases achieve solutions faster and more reliably compared to an optimization algorithm, although generally yielding less efficient solutions. Having a human-in-the-loop can thus offer improved control performance over relying on pure automation, especially in time critical situations.},
note = {Borst, C. (mentor); de Croon, G.C.H.E. (graduation committee); van Paassen, M.M. (graduation committee); Mulder, Max (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Real-time optimization of Vehicle Routing Problems during mission operations raises concerns regarding reliability of obtaining a solution and solution time. Improvements in control performance by having a human-in-the-loop might be possible by leveraging human visual pattern recognition qualities. By developing an ecological interface, supporting the operator in controlling multiple Unmanned Aerial Vehicles in a simulated payload delivery mission, and by conducting a human-in-the-loop experiment, interface effectiveness and human control performance in Dynamic Vehicle Routing Problems was investigated. Results show the ecological interface offers good support and scales well with problem size. Results also show participants can in some cases achieve solutions faster and more reliably compared to an optimization algorithm, although generally yielding less efficient solutions. Having a human-in-the-loop can thus offer improved control performance over relying on pure automation, especially in time critical situations. |
Seong Hun Lee Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation (Masters Thesis) TU Delft Aerospace Engineering, 2017, (de Croon, G.C.H.E. (mentor); Hoekstra, J.M. (graduation committee); Kooij, J.F.P. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:015f322f-9d86-4717-b2e2-74cf25bfa70c,
title = {Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation},
author = {Seong Hun Lee},
url = {http://resolver.tudelft.nl/uuid:015f322f-9d86-4717-b2e2-74cf25bfa70c},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering},
abstract = {We propose a novel method to deal with the scale ambiguity in monocular SLAM based on control stability. We analytically show that (1) using unscaled state feedback from monocular SLAM for control can lead to system instability, and (2) there is a unique linear relationship between the absolute scale of the SLAM system and the control gain at which instability arises. Using this property, our method estimates the scale by adapting the gain and detecting self-induced oscillations. Unlike conventional monocular approaches, no additional metric sensors are used for scale estimation. We demonstrate the ability of our system to estimate the scale for performing autonomous indoor navigation with a low-cost quadrotor MAV.},
note = {de Croon, G.C.H.E. (mentor); Hoekstra, J.M. (graduation committee); Kooij, J.F.P. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We propose a novel method to deal with the scale ambiguity in monocular SLAM based on control stability. We analytically show that (1) using unscaled state feedback from monocular SLAM for control can lead to system instability, and (2) there is a unique linear relationship between the absolute scale of the SLAM system and the control gain at which instability arises. Using this property, our method estimates the scale by adapting the gain and detecting self-induced oscillations. Unlike conventional monocular approaches, no additional metric sensors are used for scale estimation. We demonstrate the ability of our system to estimate the scale for performing autonomous indoor navigation with a low-cost quadrotor MAV. |
Nacho Granero Moneva Thermal Modelling and Thermal Control Optimisation of the mN-μHEMPT (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Space Engineering, 2017, (Cervone, A. (mentor); Hey, Franz Georg (mentor); Zandbergen, B.T.C. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:0333e720-8105-4429-abcd-430c0d04f031,
title = {Thermal Modelling and Thermal Control Optimisation of the mN-μHEMPT},
author = {Nacho Granero Moneva},
url = {http://resolver.tudelft.nl/uuid:0333e720-8105-4429-abcd-430c0d04f031},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Space Engineering},
abstract = {Airbus Friedrichshafen is working on the development of a milliNewton HEMPT (High Efficiency
Multistage Plasma Thruster): an electrostatic thruster concept suitable for small satellite
propulsion. An engineering model, the mN-μHEMPT, has been built and tested in vacuum,
generating thrust levels in the range of 1 to 5 mN. Although the working principle is understood,
there is still uncertainty in the loss process, in particular the heat transfer in the plasma-wall
interaction. An efficient heat management is crucial for the operation of the thruster, as the
performance of the magnets is severely hindered after reaching 250ºC. With this in mind, the
present thesis aims to produce the first thermal model of the mN-μHEMPT, with which a detailed
thermal analysis can be carried out. The model validation strategy, based on correlation
to testing results, makes it possible to overcome the uncertainty regarding the thermal losses.
By simulating the operation of the thruster in extreme load cases in a Low Earth Orbit, its
thermal performance is assessed, resulting in a detailed understanding of the temperature
evolution and heat propagation through the different components. This information is then
used to improve the performance by implementing design modifications. The result of the
thesis is a thermal model validated to within 1.65ºC as mean deviation, predicting a maximum
temperature of 180ºC at the magnet stack during operation. The application of a boron nitride
coating to the radiator and the decoupling of the heat losses at the magnet stack and at the
anode thanks to a second radiator, results in a maximum temperature of the magnet stack
of 85ºC. In conclusion, the thermal performance of the mN-μHEMPT is analysed for the first
time, and the design modifications proposed become a successful improvement.},
note = {Cervone, A. (mentor); Hey, Franz Georg (mentor); Zandbergen, B.T.C. (graduation committee); de Croon, G.C.H.E. (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Airbus Friedrichshafen is working on the development of a milliNewton HEMPT (High Efficiency<br/>Multistage Plasma Thruster): an electrostatic thruster concept suitable for small satellite<br/>propulsion. An engineering model, the mN-μHEMPT, has been built and tested in vacuum,<br/>generating thrust levels in the range of 1 to 5 mN. Although the working principle is understood,<br/>there is still uncertainty in the loss process, in particular the heat transfer in the plasma-wall<br/>interaction. An efficient heat management is crucial for the operation of the thruster, as the<br/>performance of the magnets is severely hindered after reaching 250ºC. With this in mind, the<br/>present thesis aims to produce the first thermal model of the mN-μHEMPT, with which a detailed<br/>thermal analysis can be carried out. The model validation strategy, based on correlation<br/>to testing results, makes it possible to overcome the uncertainty regarding the thermal losses.<br/>By simulating the operation of the thruster in extreme load cases in a Low Earth Orbit, its<br/>thermal performance is assessed, resulting in a detailed understanding of the temperature<br/>evolution and heat propagation through the different components. This information is then<br/>used to improve the performance by implementing design modifications. The result of the<br/>thesis is a thermal model validated to within 1.65ºC as mean deviation, predicting a maximum<br/>temperature of 180ºC at the magnet stack during operation. The application of a boron nitride<br/>coating to the radiator and the decoupling of the heat losses at the magnet stack and at the<br/>anode thanks to a second radiator, results in a maximum temperature of the magnet stack<br/>of 85ºC. In conclusion, the thermal performance of the mN-μHEMPT is analysed for the first<br/>time, and the design modifications proposed become a successful improvement. |
Tobias Heil Enhanced Sparse Depth Reconstruction Using Edge and Temporal Information: An Application to Micro Air Vehicles (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Operations, 2017, (de Croon, G.C.H.E. (mentor); Gao, Zhi (graduation committee); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:de84d7b7-52f7-4c0f-a00f-d7a6c244a678,
title = {Enhanced Sparse Depth Reconstruction Using Edge and Temporal Information: An Application to Micro Air Vehicles},
author = {Tobias Heil},
url = {http://resolver.tudelft.nl/uuid:de84d7b7-52f7-4c0f-a00f-d7a6c244a678},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Operations},
abstract = {The reconstruction of dense depth maps is of great value to resource-constrained Mirco Air Vehicles (MAVs), in the pursuit of achieving autonomous flight with a high situational awareness. Most MAVs implement sensing methods which provide a sparse depth map, limiting their capabilities significantly. This article introduces two novel methods to enhance existing depth reconstruction algorithms in terms of geometric reconstruction, depth approximation and computational time. The first contribution is the introduction of a novel method that includes edge information from the image-domain into the depth-regularization problem. This to enhance the retrieval of the complete scene geometry. The second contribution is a novel scheme which includes temporal information in the reconstruction approach, allowing extremely sparse depth scenes to be reconstructed. By estimating the geometric transformation with optical flow, previous depth reconstructions can be used as initial solutions for the current depth-regularization problem. Empirical results show a consistent reduction reconstruction error, while at the same time reducing the computational time. Qualitative estimation shows significant improvement in the retrieval of scene geometry.},
note = {de Croon, G.C.H.E. (mentor); Gao, Zhi (graduation committee); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
The reconstruction of dense depth maps is of great value to resource-constrained Mirco Air Vehicles (MAVs), in the pursuit of achieving autonomous flight with a high situational awareness. Most MAVs implement sensing methods which provide a sparse depth map, limiting their capabilities significantly. This article introduces two novel methods to enhance existing depth reconstruction algorithms in terms of geometric reconstruction, depth approximation and computational time. The first contribution is the introduction of a novel method that includes edge information from the image-domain into the depth-regularization problem. This to enhance the retrieval of the complete scene geometry. The second contribution is a novel scheme which includes temporal information in the reconstruction approach, allowing extremely sparse depth scenes to be reconstructed. By estimating the geometric transformation with optical flow, previous depth reconstructions can be used as initial solutions for the current depth-regularization problem. Empirical results show a consistent reduction reconstruction error, while at the same time reducing the computational time. Qualitative estimation shows significant improvement in the retrieval of scene geometry. |
Wilco Vlenterie Velocity Templates for Dense Swarms of Flying Robots (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Operations, 2017, (Chu, Q. P. (mentor); de Croon, G.C.H.E. (mentor); Remes, B.D.W. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:ec5df737-cad0-4b24-89a0-75d45ebac51b,
title = {Velocity Templates for Dense Swarms of Flying Robots},
author = {Wilco Vlenterie},
url = {http://resolver.tudelft.nl/uuid:ec5df737-cad0-4b24-89a0-75d45ebac51b},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Operations},
abstract = {In the near future many tasks could be performed by swarms of flying robots. To successfully implement multiple of these swarms in the same airspace they will have to be decentralised, autonomously cope with high densities and even resolve conflicting objectives of other swarms, while remaining controllable by operators through high-level objectives. This article introduces a novel swarming approach dubbed "Velocity Templates" based on artificial potential fields. These global fields represent the objectives of the swarm, which are balanced with local interaction. Different fields are considered leading to still or sustained motion swarms where conflicting objectives between sub-groups or multiple swarms are gracefully resolved. The approach is implemented on groups of 2 and 4 Parrot Bebop UAVs, using an efficient on-board vision algorithm to locate neighbours and a motion tracking system for guidance. The experiments show promising results for further outdoor tests assessing the scalability of the proposed approach.},
note = {Chu, Q. P. (mentor); de Croon, G.C.H.E. (mentor); Remes, B.D.W. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
In the near future many tasks could be performed by swarms of flying robots. To successfully implement multiple of these swarms in the same airspace they will have to be decentralised, autonomously cope with high densities and even resolve conflicting objectives of other swarms, while remaining controllable by operators through high-level objectives. This article introduces a novel swarming approach dubbed "Velocity Templates" based on artificial potential fields. These global fields represent the objectives of the swarm, which are balanced with local interaction. Different fields are considered leading to still or sustained motion swarms where conflicting objectives between sub-groups or multiple swarms are gracefully resolved. The approach is implemented on groups of 2 and 4 Parrot Bebop UAVs, using an efficient on-board vision algorithm to locate neighbours and a motion tracking system for guidance. The experiments show promising results for further outdoor tests assessing the scalability of the proposed approach. |
Nicolás Omar Abuter Grebe Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model (Masters Thesis) TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2017, (de Wagter, C. (mentor); Delft University of Technology (degree granting institution)). @mastersthesis{uuid:edbb8630-d1ad-4230-b4cd-f593e81622b2,
title = {Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model},
author = {Nicolás Omar Abuter Grebe},
url = {http://resolver.tudelft.nl/uuid:edbb8630-d1ad-4230-b4cd-f593e81622b2},
year = {2017},
date = {2017-01-01},
school = {TU Delft Aerospace Engineering; TU Delft Control & Simulation},
abstract = {State of the art trajectory generation schemes for quadrotors assume a simple dynamic model. They neglect aerodynamic effects such as induced drag and blade flapping and assume that no wind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP). There are various software-implementations of the DDP scheme. For future deployment on robotic hardware the software is required to be computationally efficient, written in C++ and to be open-source. A library named GCOP, which was developed at the John Hopkins University, fulfills these requirements and is used. Before implementing the solver, a full model of the Crazyflie Nano Quadcopter is identified experimentally. The solver is validated, normalized and the performance is benchmarked. This method yields reliable minimum control-effort trajectories. A control scheme is proposed and studied in Monte-Carlo simulations. Itis robust and able to handle large modelling errors in mass and moment of inertia while ensuring minimal error on the final state.},
note = {de Wagter, C. (mentor); Delft University of Technology (degree granting institution)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
State of the art trajectory generation schemes for quadrotors assume a simple dynamic model. They neglect aerodynamic effects such as induced drag and blade flapping and assume that no wind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP). There are various software-implementations of the DDP scheme. For future deployment on robotic hardware the software is required to be computationally efficient, written in C++ and to be open-source. A library named GCOP, which was developed at the John Hopkins University, fulfills these requirements and is used. Before implementing the solver, a full model of the Crazyflie Nano Quadcopter is identified experimentally. The solver is validated, normalized and the performance is benchmarked. This method yields reliable minimum control-effort trajectories. A control scheme is proposed and studied in Monte-Carlo simulations. Itis robust and able to handle large modelling errors in mass and moment of inertia while ensuring minimal error on the final state. |
F. G. J. Rijks Studying the effect of the tail on the dynamics of a flapping-wing MAV (Masters Thesis) Delft University of Technology, 2017, (De Visser, C.C. (mentor); Karásek, M. (mentor); Armanini, S.F. (mentor)). @mastersthesis{uuid:18dee61c-9828-430a-9d71-5a12586da89c,
title = {Studying the effect of the tail on the dynamics of a flapping-wing MAV},
author = {F. G. J. Rijks},
url = {http://resolver.tudelft.nl/uuid:18dee61c-9828-430a-9d71-5a12586da89c},
year = {2017},
date = {2017-01-01},
school = {Delft University of Technology},
abstract = {The effects of horizontal tail geometry and position on longitudinal flapping-wing micro aerial vehicle dynamics were studied using wind tunnel and free-flight experiments. Linearised models were used to analyse the effect on the dynamic properties of the ornithopter. Results show higher steady-state velocity and increased pitch damping for increased tail surface area and aspect ratio. The maximum span width of the tail surface is also found to play an important role in determining dynamic behaviour, in particular when the distance between the tail surface and the flapping wings is large. Steady-state conditions can be predicted accurately using linear functions of tail geometry for this ornithopter. Predicting dynamic behaviour is more complicated and requires further study. However, the observed trends in some of the model parameters suggest that future models explicitly including the tail geometry may be used to design flapping-wing robots with desirable dynamic properties.},
note = {De Visser, C.C. (mentor); Karásek, M. (mentor); Armanini, S.F. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
The effects of horizontal tail geometry and position on longitudinal flapping-wing micro aerial vehicle dynamics were studied using wind tunnel and free-flight experiments. Linearised models were used to analyse the effect on the dynamic properties of the ornithopter. Results show higher steady-state velocity and increased pitch damping for increased tail surface area and aspect ratio. The maximum span width of the tail surface is also found to play an important role in determining dynamic behaviour, in particular when the distance between the tail surface and the flapping wings is large. Steady-state conditions can be predicted accurately using linear functions of tail geometry for this ornithopter. Predicting dynamic behaviour is more complicated and requires further study. However, the observed trends in some of the model parameters suggest that future models explicitly including the tail geometry may be used to design flapping-wing robots with desirable dynamic properties. |
Miscellaneous
|
G C H E de Croon Self-supervised learning: When is fusion of the primary and secondary sensor cue useful? (Miscellaneous) 2017. @misc{1709.08126,
title = {Self-supervised learning: When is fusion of the primary and secondary sensor cue useful?},
author = {G C H E de Croon},
url = {https://arxiv.org/abs/1709.08126},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Christophe de Wagter Multiple pairs of flapping wings for attitude control (Miscellaneous) 2017, (Patent: OCT15069; NL2016130B1; B64C 33/02 B64C 39/00). @misc{b668c2dfdde24b9d856d630595e28146,
title = {Multiple pairs of flapping wings for attitude control},
author = {Christophe {de Wagter}},
url = {https://research.tudelft.nl/en/publications/multiple-pairs-of-flapping-wings-for-attitude-control},
year = {2017},
date = {2017-01-01},
note = {Patent: OCT15069; NL2016130B1; B64C 33/02 B64C 39/00},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Salua Hamaza; Ioannis Georgilas; Thomas Richardson Towards An Adaptive Compliant Aerial Manipulator for Contact-Based Interaction (Miscellaneous) 2017. @misc{1709.08536,
title = {Towards An Adaptive Compliant Aerial Manipulator for Contact-Based Interaction},
author = {Salua Hamaza and Ioannis Georgilas and Thomas Richardson},
url = {https://arxiv.org/abs/1709.08536},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
Sjoerd Tijmons Autonomous Flight of Flapping Wing Micro Air Vehicles (PhD Thesis) Delft University of Technology, 2017, ISBN: 978-94-6233-834-0. @phdthesis{74fee365ba6d456a8ec0358dc708eef4,
title = {Autonomous Flight of Flapping Wing Micro Air Vehicles},
author = {Sjoerd Tijmons},
url = {https://research.tudelft.nl/en/publications/autonomous-flight-of-flapping-wing-micro-air-vehicles},
doi = {10.4233/uuid:74fee365-ba6d-456a-8ec0-358dc708eef4},
isbn = {978-94-6233-834-0},
year = {2017},
date = {2017-01-01},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
Hann Woei Ho Autonomous landing of Micro Air Vehicles through bio-inspired monocular vision (PhD Thesis) 2017, ISBN: 978-94-6186-818-3. @phdthesis{7efd562f82fa468fb074bfa7d640a9ee,
title = {Autonomous landing of Micro Air Vehicles through bio-inspired monocular vision},
author = {{Hann Woei} Ho},
url = {https://research.tudelft.nl/en/publications/autonomous-landing-of-micro-air-vehicles-through-bio-inspired-mon},
doi = {10.4233/uuid:7efd562f-82fa-468f-b074-bfa7d640a9ee},
isbn = {978-94-6186-818-3},
year = {2017},
date = {2017-01-01},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
2016
|
Journal Articles
|
S F Armanini; M Polak; J E Gautrey; A Lucas; J F Whidborne Decision-making for unmanned aerial vehicle operation in icing conditions (Journal Article) In: CEAS Aeronautical Journal, vol. 7, no. 4, pp. 663–675, 2016, ISSN: 1869-5582. @article{38eeb24456c34b1e8b889eb41d728f83,
title = {Decision-making for unmanned aerial vehicle operation in icing conditions},
author = {{S F } Armanini and M Polak and {J E } Gautrey and A Lucas and {J F } Whidborne},
url = {https://research.tudelft.nl/en/publications/decision-making-for-unmanned-aerial-vehicle-operation-in-icing-co},
doi = {10.1007/s13272-016-0215-2},
issn = {1869-5582},
year = {2016},
date = {2016-12-01},
journal = {CEAS Aeronautical Journal},
volume = {7},
number = {4},
pages = {663--675},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Ewoud J J Smeur; Qiping P Chu; Guido C H E de Croon Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles (Journal Article) In: Journal of Guidance, Control, and Dynamics, vol. 39, no. 3, pp. 450-461, 2016. @article{smeur2016a,
title = {Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles},
author = {Ewoud J J Smeur and Qiping P Chu and Guido C H E de Croon},
doi = {10.2514/1.G001490},
year = {2016},
date = {2016-03-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {39},
number = {3},
pages = {450-461},
publisher = {AIAA},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Kirk Scheper; Sjoerd Tijmons; Coen de Visser; Guido de Croon Behavior Trees for Evolutionary Robotics (Journal Article) In: Artificial Life, vol. 22, no. 1, pp. 23–48, 2016, ISSN: 1064-5462. @article{8a89b8035e7640cd8c22b9b9c10e46dc,
title = {Behavior Trees for Evolutionary Robotics},
author = {Kirk Scheper and Sjoerd Tijmons and Coen {de Visser} and Guido {de Croon}},
url = {https://research.tudelft.nl/en/publications/behavior-trees-for-evolutionary-robotics},
doi = {10.1162/ARTL_a_00192},
issn = {1064-5462},
year = {2016},
date = {2016-02-17},
journal = {Artificial Life},
volume = {22},
number = {1},
pages = {23--48},
publisher = {MIT Press Journals},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Guido de Croon Monocular distance estimation with optical flow maneuvers and efference copies: a stability based strategy (Journal Article) In: Bioinspiration & Biomimetics: learning from nature, vol. 11, no. 1, pp. 1–18, 2016, ISSN: 1748-3182. @article{2a0caf1b3fae4418873ac6f5a54dfd98,
title = {Monocular distance estimation with optical flow maneuvers and efference copies: a stability based strategy},
author = {Guido {de Croon}},
url = {https://research.tudelft.nl/en/publications/monocular-distance-estimation-with-optical-flow-maneuvers-and-eff},
doi = {10.1088/1748-3190/11/1/016004},
issn = {1748-3182},
year = {2016},
date = {2016-01-07},
journal = {Bioinspiration & Biomimetics: learning from nature},
volume = {11},
number = {1},
pages = {1--18},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S van Lochem; Clark Borst; Guido de Croon; Rene van Paassen; Max Mulder Ecological Interface for Collaboration of Multiple UAVs in Remote Areas (Journal Article) In: IFAC-PapersOnLine, vol. 49, no. 19, pp. 450–455, 2016, ISSN: 1474-6670, (13th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, HMS 2016 ; Conference date: 30-08-2016 Through 02-09-2016). @article{d7ffc4a000a146eabaa38d9d4890633f,
title = {Ecological Interface for Collaboration of Multiple UAVs in Remote Areas},
author = {S {van Lochem} and Clark Borst and Guido {de Croon} and Rene {van Paassen} and Max Mulder},
url = {https://research.tudelft.nl/en/publications/ecological-interface-for-collaboration-of-multiple-uavs-in-remote},
doi = {10.1016/j.ifacol.2016.10.620},
issn = {1474-6670},
year = {2016},
date = {2016-01-01},
journal = {IFAC-PapersOnLine},
volume = {49},
number = {19},
pages = {450--455},
publisher = {Elsevier},
note = {13th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, HMS 2016 ; Conference date: 30-08-2016 Through 02-09-2016},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S F Armanini; J V Caetano; G C H E de Croon; C C de Visser; M Mulder Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data (Journal Article) In: Bioinspiration & Biomimetics, vol. 11, no. 4, pp. 046002, 2016. @article{armanini2016quasi,
title = {Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data},
author = {S F Armanini and J V Caetano and G C H E de Croon and C C de Visser and M Mulder},
year = {2016},
date = {2016-01-01},
journal = {Bioinspiration & Biomimetics},
volume = {11},
number = {4},
pages = {046002},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
S F Armanini; De C C Visser; De G C H E Croon; M Mulder Time-varying model identification of flapping-wing vehicle dynamics using flight data (Journal Article) In: Journal of Guidance, Control, and Dynamics, vol. 39, no. 3, pp. 526–541, 2016. @article{Armanini2016b,
title = {Time-varying model identification of flapping-wing vehicle dynamics using flight data},
author = {S F Armanini and De C C Visser and De G C H E Croon and M Mulder},
doi = {10.2514/1.G001470},
year = {2016},
date = {2016-01-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {39},
number = {3},
pages = {526--541},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
M Percin; B W van Oudheusden; G C H E de Croon; B Remes Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II in hovering flight (Journal Article) In: Bioinspiration & biomimetics, vol. 11, no. 3, pp. 036014, 2016. @article{percin2016force,
title = {Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II in hovering flight},
author = {M Percin and B W van Oudheusden and G C H E de Croon and B Remes},
year = {2016},
date = {2016-01-01},
journal = {Bioinspiration & biomimetics},
volume = {11},
number = {3},
pages = {036014},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Books
|
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 (Book) Springer Netherlands, 2016, ISBN: 978-94-017-9207-3. @book{DeCroon2016,
title = {The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot},
author = {G C H E de Croon and Mustafa Percin and B D W Remes and Rick Ruijsink and C De Wagter},
doi = {10.1007/978-94-017-9208-0},
isbn = {978-94-017-9207-3},
year = {2016},
date = {2016-01-01},
pages = {218},
publisher = {Springer Netherlands},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Proceedings Articles
|
Clint Nous; Roland Meertens; Christophe De Wagter; Guido De Croon Performance evaluation in obstacle avoidance (Proceedings Article) In: IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3614–3619, Institute of Electrical and Electronics Engineers (IEEE), United States, 2016, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{2d30681de80f456e96012dc3c27221c4,
title = {Performance evaluation in obstacle avoidance},
author = {Clint Nous and Roland Meertens and Christophe {De Wagter} and Guido {De Croon}},
url = {https://research.tudelft.nl/en/publications/performance-evaluation-in-obstacle-avoidance},
doi = {10.1109/IROS.2016.7759532},
year = {2016},
date = {2016-11-28},
booktitle = {IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
volume = {2016-November},
pages = {3614--3619},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
L N C Sikkel; G C H E De Croon; C De Wagter; Q P Chu A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs (Proceedings Article) In: IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2141–2146, Institute of Electrical and Electronics Engineers (IEEE), United States, 2016, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{dd20198778e84c22a0474337f5182ecf,
title = {A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs},
author = {{L N C} Sikkel and {G C H E} {De Croon} and C {De Wagter} and {Q P } Chu},
url = {https://research.tudelft.nl/en/publications/a-novel-online-model-based-wind-estimation-approach-for-quadrotor},
doi = {10.1109/IROS.2016.7759336},
year = {2016},
date = {2016-11-28},
booktitle = {IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
volume = {2016-November},
pages = {2141--2146},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
address = {United States},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Christophe De Wagter; Ewoud Smeur Control of a Hybrid Helicopter with Wings (Proceedings Article) In: Peng, Z.; Lin, F. (Ed.): International Micro Air Vechicle Competition and Conference 2016, pp. 87–94, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016). @inproceedings{d7a12fa91f174045b7f73033fa496566,
title = {Control of a Hybrid Helicopter with Wings},
author = {Christophe De Wagter and Ewoud Smeur},
editor = {Z. Peng and F. Lin},
url = {https://research.tudelft.nl/en/publications/control-of-a-hybrid-helicopter-with-wings},
year = {2016},
date = {2016-10-17},
booktitle = {International Micro Air Vechicle Competition and Conference 2016},
pages = {87--94},
note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kevin van Hecke; Guido de Croon; Daniel Hennes; Timothy P Setterfield; Alvar Saenz-Otero; Dario Izzo Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments (Proceedings Article) In: Proceedings of the 67th International Astronautical Congress (IAC), Guadalajara, Mexico, 26-30 September 2016, IAF, 2016, (67th International Astronautical Congress, 67th IAC ; Conference date: 26-09-2016 Through 30-09-2016). @inproceedings{a8db1c4b7ab24cd984ae030c7dcb2bcc,
title = {Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments},
author = {Kevin {van Hecke} and Guido {de Croon} and Daniel Hennes and {Timothy P } Setterfield and Alvar Saenz-Otero and Dario Izzo},
url = {https://research.tudelft.nl/en/publications/self-supervised-learning-as-an-enabling-technology-for-future-spa},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the 67th International Astronautical Congress (IAC), Guadalajara, Mexico, 26-30 September 2016},
publisher = {IAF},
note = {67th International Astronautical Congress, 67th IAC ; Conference date: 26-09-2016 Through 30-09-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kevin Lamers; Sjoerd Tijmons; Christophe De Wagter; Guido de Croon Self-supervised monocular distance learning on a lightweight micro air vehicle (Proceedings Article) In: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pp. 1779–1784, IEEE 2016. @inproceedings{lamers2016self,
title = {Self-supervised monocular distance learning on a lightweight micro air vehicle},
author = {Kevin Lamers and Sjoerd Tijmons and Christophe De Wagter and Guido de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
pages = {1779--1784},
organization = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; J V Caetano; C C de Visser; G C H E de Croon; M Mulder Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches (Proceedings Article) In: AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–15, 2016. @inproceedings{Armanini2016bb,
title = {Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches},
author = {S F Armanini and J V Caetano and C C de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--15},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; C C a de Visser; G C H E de Croon; M Mulder A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Proceedings Article) In: AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–19, 2016. @inproceedings{Armanini2016a,
title = {A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle},
author = {S F Armanini and C C a de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--19},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
HW Ho; GCHE de Croon Characterization of flow field divergence for MAVs vertical control landing (Proceedings Article) In: s.n., (Ed.): Proceedings of the AIAA guidance, navigation, and control conference, pp. 1–13, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2016, ISBN: 978-1-62410-389-6, (harvest AIAA 2016-0106; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016). @inproceedings{6991222143d34781ab9581aeb26c6ecc,
title = {Characterization of flow field divergence for MAVs vertical control landing},
author = {HW Ho and GCHE {de Croon}},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/characterization-of-flow-field-divergence-for-mavs-vertical-contr},
doi = {10.2514/6.2016-0106},
isbn = {978-1-62410-389-6},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the AIAA guidance, navigation, and control conference},
pages = {1--13},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2016-0106; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Matěj Karásek; Andries Jan Koopmans; Sophie F Armanini; Bart D W Remes; Guido C H E de Croon Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU (Proceedings Article) In: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted), Daejeon, Korea, 2016. @inproceedings{Karasek2016,
title = {Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU},
author = {Mat{ě}j Karásek and Andries Jan Koopmans and Sophie F Armanini and Bart D W Remes and Guido C H E de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted)},
address = {Daejeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Torbjørn Cunis; Matěj Karásek; Guido C H E de Croon Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel (Proceedings Article) In: The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21, 2016. @inproceedings{Cunis,
title = {Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel},
author = {Torbjørn Cunis and Mat{ě}j Karásek and Guido C H E de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kirk Y W Scheper; Guido C H E de Croon Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics (Proceedings Article) In: Tuci, Elio; Giagkos, Alexandros; Wilson, Myra; Hallam, John (Ed.): From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, pp. 280–292, Springer International Publishing, Aberystwyth University, Wales, UK, 2016, ISSN: 00237205. @inproceedings{Scheper2016b,
title = {Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics},
author = {Kirk Y W Scheper and Guido C H E de Croon},
editor = {Elio Tuci and Alexandros Giagkos and Myra Wilson and John Hallam},
url = {http://link.springer.com/10.1007/978-3-319-43488-9},
doi = {10.1007/978-3-319-43488-9_25},
issn = {00237205},
year = {2016},
date = {2016-01-01},
booktitle = {From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016},
pages = {280--292},
publisher = {Springer International Publishing},
address = {Aberystwyth University, Wales, UK},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Hann Woei Ho; Guido Croon; Qiping Chu Distance and velocity estimation using optical flow from a monocular camera (Proceedings Article) In: Proceedings of the International Micro Air Vehicles Conference and Competition 2016, pp. 121–128, IEEE, United States, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016). @inproceedings{e903cda0b43d4e5fadfc3af5a83c96b1,
title = {Distance and velocity estimation using optical flow from a monocular camera},
author = {Hann Woei Ho and Guido Croon and Qiping Chu},
url = {https://research.tudelft.nl/en/publications/distance-and-velocity-estimation-using-optical-flow-from-a-monocu},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the International Micro Air Vehicles Conference and Competition 2016},
pages = {121--128},
publisher = {IEEE},
address = {United States},
note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Gerald Dalen; Kimberly Mcguire; Guido Croon Visual Homing for Micro Aerial Vehicles using Scene Familiarity (Proceedings Article) In: Peng, Zhihong; Lin, Feng (Ed.): International Micro Air Vechicle Competition and Conference 2016, pp. 307–313, 2016, (International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016). @inproceedings{40e76fe5896a41dab675ecdb11f1f991,
title = {Visual Homing for Micro Aerial Vehicles using Scene Familiarity},
author = {Gerald Dalen and Kimberly Mcguire and Guido Croon},
editor = {Zhihong Peng and Feng Lin},
url = {https://research.tudelft.nl/en/publications/visual-homing-for-micro-aerial-vehicles-using-scene-familiarity-2},
year = {2016},
date = {2016-01-01},
booktitle = {International Micro Air Vechicle Competition and Conference 2016},
pages = {307--313},
note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
EJJ Smeur; QP Chu; GCHE Croon Adaptive incremental nonlinear dynamic inversion for attitude control of micro aerial vehicles (Proceedings Article) In: s.n., (Ed.): Proceedings of the AIAA guidance, navigation, and control conference, pp. 1–16, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2016, ISBN: 978-1-62410-389-6, (harvest AIAA 2016-1390; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016). @inproceedings{ff1f13e377e64d0fbfdf0065cf333066,
title = {Adaptive incremental nonlinear dynamic inversion for attitude control of micro aerial vehicles},
author = {EJJ Smeur and QP Chu and GCHE Croon},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/adaptive-incremental-nonlinear-dynamic-inversion-for-attitude-con},
doi = {10.2514/6.2016-1390},
isbn = {978-1-62410-389-6},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the AIAA guidance, navigation, and control conference},
pages = {1--16},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2016-1390; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Ewoud Smeur; Guido de Croon; Qiping Chu Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion (Proceedings Article) In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, ISBN: 978-1-5090-3763-6, (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016). @inproceedings{2781baceb00f4de2a52abd869a349145,
title = {Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion},
author = {Ewoud Smeur and Guido {de Croon} and Qiping Chu},
url = {https://research.tudelft.nl/en/publications/gust-disturbance-alleviation-with-incremental-nonlinear-dynamic-i},
doi = {10.1109/IROS.2016.7759827},
isbn = {978-1-5090-3763-6},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kimberly Mcguire; Guido de Croon; Christophe de Wagter; Bart Remes; K Tuyls; H Kappen Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones (Proceedings Article) In: Okamura, A (Ed.): 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3255–3260, IEEE, United States, 2016, ISBN: 978-1-4673-8027-0, (2016 IEEE International Conference on Robotics and Automation, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016). @inproceedings{3a72f841156c46e29393ce4798684f9e,
title = {Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones},
author = {Kimberly Mcguire and Guido {de Croon} and Christophe {de Wagter} and Bart Remes and K Tuyls and H Kappen},
editor = {A Okamura},
url = {https://research.tudelft.nl/en/publications/local-histogram-matching-for-efficient-optical-flow-computation-a},
doi = {10.1109/ICRA.2016.7487496},
isbn = {978-1-4673-8027-0},
year = {2016},
date = {2016-01-01},
booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3255--3260},
publisher = {IEEE},
address = {United States},
note = {2016 IEEE International Conference on Robotics and Automation, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
B J Pijnacker Hordijk Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow (Masters Thesis) Delft University of Technology, Delft, NL, 2016. @mastersthesis{Pijnacker2016,
title = {Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow},
author = {B J Pijnacker Hordijk},
url = {http://resolver.tudelft.nl/uuid:ffa1ec41-3930-4dfe-b454-e11c3517a7f4},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
E. S. Van der Sman Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-Wing Micro Air Vehicles (Masters Thesis) Delft University of Technology, 2016, (Chu, Q.P. (mentor); Remes, B. (mentor); Smeur, E.J.J. (mentor)). @mastersthesis{uuid:b76bd35d-9d56-472e-8ff8-35fd453b6a49,
title = {Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-Wing Micro Air Vehicles},
author = {E. S. Van der Sman},
url = {http://resolver.tudelft.nl/uuid:b76bd35d-9d56-472e-8ff8-35fd453b6a49},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles. Two methods have been identified to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion and phase-advanced pitch probes. Incremental nonlinear dynamic inversion uses the angular acceleration measurements to counteract disturbances. Multihole pressure probes measure the incoming flow angle and velocity ahead of the wing in order to react to gusts before an inertial response has occurred. The performance of incremental nonlinear dynamic inversion is compared to a traditional proportional integral derivative controller with and without the multihole pressure probes. The attitude controllers are tested by performing autonomous wind tunnel flights and stability augmented outdoor flights. This thesis shows that nonlinear dynamic inversion improves the disturbance rejection performance of fixed-wing MAVs compared to traditional proportional integral derivative controllers.},
note = {Chu, Q.P. (mentor); Remes, B. (mentor); Smeur, E.J.J. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles. Two methods have been identified to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion and phase-advanced pitch probes. Incremental nonlinear dynamic inversion uses the angular acceleration measurements to counteract disturbances. Multihole pressure probes measure the incoming flow angle and velocity ahead of the wing in order to react to gusts before an inertial response has occurred. The performance of incremental nonlinear dynamic inversion is compared to a traditional proportional integral derivative controller with and without the multihole pressure probes. The attitude controllers are tested by performing autonomous wind tunnel flights and stability augmented outdoor flights. This thesis shows that nonlinear dynamic inversion improves the disturbance rejection performance of fixed-wing MAVs compared to traditional proportional integral derivative controllers. |
Y S Janssen Reinforcement Learning Policy Approximation by Behavior Trees: using Genetic Algoritms (Masters Thesis) Delft University of Technology, Delft, NL, 2016. @mastersthesis{Janssen2016,
title = {Reinforcement Learning Policy Approximation by Behavior Trees: using Genetic Algoritms},
author = {Y S Janssen},
url = {http://resolver.tudelft.nl/uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
year = {2016},
date = {2016-01-01},
urldate = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
C R Fonville The Exploring DelFly: How to increase the indoor explored area of the DelFly Explorer by means of computationally efficient routing decisions? (Masters Thesis) Delft University of Technology, Delft, NL, 2016. @mastersthesis{Fonville2016,
title = {The Exploring DelFly: How to increase the indoor explored area of the DelFly Explorer by means of computationally efficient routing decisions?},
author = {C R Fonville},
url = {http://resolver.tudelft.nl/uuid:8efab9c5-e78b-40ff-ab37-a563366d22f9},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
M. W. M. Kuijpers The influence of a bottom camera in indoor ground-segmentation based obstacle avoiding performance for MAVs (Masters Thesis) Delft University of Technology, 2016, (de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor)). @mastersthesis{uuid:424ead9b-50be-4e80-94a9-d041a1418dd3,
title = {The influence of a bottom camera in indoor ground-segmentation based obstacle avoiding performance for MAVs},
author = {M. W. M. Kuijpers},
url = {http://resolver.tudelft.nl/uuid:424ead9b-50be-4e80-94a9-d041a1418dd3},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
note = {de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
K Lamers Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle (Masters Thesis) Delft University of Technology, Delft, NL, 2016. @mastersthesis{Lamers2016b,
title = {Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle},
author = {K Lamers},
url = {http://resolver.tudelft.nl/uuid:55f9ab7a-2651-4a90-93a0-a8c9ddc7c6a9},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
D. C. Höppener Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter (Masters Thesis) Delft University of Technology, 2016, (de Wagter, C. (mentor)). @mastersthesis{uuid:3704b044-b9bf-454a-8678-0d140bd1d308,
title = {Actuator Saturation Handling using Weighted Optimal Control Allocation Applied to an INDI Controlled Quadcopter},
author = {D. C. Höppener},
url = {http://resolver.tudelft.nl/uuid:3704b044-b9bf-454a-8678-0d140bd1d308},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Incremental Nonlinear Dynamic Inversion provides a high performance attitude controller for multi-rotor Micro Aerial Vehicles by providing very good disturbance rejection capabilities. Flights conducted with a quadcopter revealed undesired pitch and rolling motions which occurred simultaneously with actuator saturation for instantaneous yaw angle reference tracking commands. Constrained control allocation methods can increase the system's performance by providing an effective strategy to prioritize control objectives, and redistribute control effort accordingly. Weighted Least Squares control allocation makes the constrained control allocation problem a quadratic optimization problem. An iterative solver based on the computationally efficient active-set algorithm finds the optimal control distribution for a weighted control objective. In this paper the Weighted Least Squares control allocator is used to overcome two challenges 1) increase performance by applying prioritization between control objectives and redistribute control effort accordingly, accounting for the actuator limits 2) enable flight when flying with severely compromised actuator(s). Real-world flight experiments are performed and show a significant increase in performance for high load yaw maneuvers, and enabled a quadcopter to perform controlled flight with a severely compromised actuator},
note = {de Wagter, C. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Incremental Nonlinear Dynamic Inversion provides a high performance attitude controller for multi-rotor Micro Aerial Vehicles by providing very good disturbance rejection capabilities. Flights conducted with a quadcopter revealed undesired pitch and rolling motions which occurred simultaneously with actuator saturation for instantaneous yaw angle reference tracking commands. Constrained control allocation methods can increase the system's performance by providing an effective strategy to prioritize control objectives, and redistribute control effort accordingly. Weighted Least Squares control allocation makes the constrained control allocation problem a quadratic optimization problem. An iterative solver based on the computationally efficient active-set algorithm finds the optimal control distribution for a weighted control objective. In this paper the Weighted Least Squares control allocator is used to overcome two challenges 1) increase performance by applying prioritization between control objectives and redistribute control effort accordingly, accounting for the actuator limits 2) enable flight when flying with severely compromised actuator(s). Real-world flight experiments are performed and show a significant increase in performance for high load yaw maneuvers, and enabled a quadcopter to perform controlled flight with a severely compromised actuator |
R. M. J. Janssen Attitude control- and stabilisation moment generation of the DelFly using Wing Tension Modulation (Masters Thesis) Delft University of Technology, 2016, (Karasek, M. (mentor)). @mastersthesis{uuid:382dec56-7789-40df-af28-f2e61de99fad,
title = {Attitude control- and stabilisation moment generation of the DelFly using Wing Tension Modulation},
author = {R. M. J. Janssen},
url = {http://resolver.tudelft.nl/uuid:382dec56-7789-40df-af28-f2e61de99fad},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
note = {Karasek, M. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
T. Duro Tracking and Following a Moving Person Onboard a Small Pocket Drone (Masters Thesis) Delft University of Technology, 2016, (De Croon, G. (mentor); De Wagter, C (mentor); Meertens, R. (mentor)). @mastersthesis{uuid:58a4c285-e3b6-4bf0-b885-2908077e9b02,
title = {Tracking and Following a Moving Person Onboard a Small Pocket Drone},
author = {T. Duro},
url = {http://resolver.tudelft.nl/uuid:58a4c285-e3b6-4bf0-b885-2908077e9b02},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This paper presents a vision based strategy, designed to work fully onboard a small pocket drone, for autonomously tracking and following a person. Flying a drone is not an easy task, usually requiring a trained pilot, with the presented system it is possible to use a drone for filming or taking pictures from previously inaccessible places without the need for a person controlling the aircraft. Such framework is comprised by two main components, a tracker and a control system. The tracker has the function of estimating the position of the person that is being followed, while the control system gets the drone near that person. Limited by payload weight, power consumption and processing power the system results in a delicate balance between these constraints. The main contributions of this paper are the comparison between two state-of-the-art visual trackers running on paparazzi, Struck and KCF, as well as the control system that uses the tracker’s output location to perform the person following task. Then a new tracker is developed to be as computationally light as possible so that it can run onboard a small pocket drone, based on HOG feature extraction, it uses logistic regression to train a detector on the appearance of a person.},
note = {De Croon, G. (mentor); De Wagter, C (mentor); Meertens, R. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This paper presents a vision based strategy, designed to work fully onboard a small pocket drone, for autonomously tracking and following a person. Flying a drone is not an easy task, usually requiring a trained pilot, with the presented system it is possible to use a drone for filming or taking pictures from previously inaccessible places without the need for a person controlling the aircraft. Such framework is comprised by two main components, a tracker and a control system. The tracker has the function of estimating the position of the person that is being followed, while the control system gets the drone near that person. Limited by payload weight, power consumption and processing power the system results in a delicate balance between these constraints. The main contributions of this paper are the comparison between two state-of-the-art visual trackers running on paparazzi, Struck and KCF, as well as the control system that uses the tracker’s output location to perform the person following task. Then a new tracker is developed to be as computationally light as possible so that it can run onboard a small pocket drone, based on HOG feature extraction, it uses logistic regression to train a detector on the appearance of a person. |
J. Paquim Learning Depth from Single Monocular Images Using Stereo Supervisory Input (Masters Thesis) Delft University of Technology, 2016, (de Croon, G.C.H.E. (mentor)). @mastersthesis{uuid:4b4c4e4b-5e45-4166-bd2c-f35a1e495c6a,
title = {Learning Depth from Single Monocular Images Using Stereo Supervisory Input},
author = {J. Paquim},
url = {http://resolver.tudelft.nl/uuid:4b4c4e4b-5e45-4166-bd2c-f35a1e495c6a},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Stereo vision systems are often employed in robotics as a means for obstacle avoidance and navigation. These systems have inherent depth-sensing limitations, with significant problems in occluded and untextured regions, leading to sparse depth maps. We propose using a monocular depth estimation algorithm to tackle these problems, in a Self-Supervised Learning (SSL) framework. The algorithm learns online from the sparse depth map generated by a stereo vision system, producing a dense depth map. The algorithm is designed to be computationally efficient, for implementation onboard resource-constrained mobile robots and unmanned aerial vehicles. Within that context, it can be used to provide both reliability against a stereo camera failure, as well as more accurate depth perception, by filling in missing depth information, in occluded and low texture regions. This in turn allows the use of more efficient sparse stereo vision algorithms. We test the algorithm offline on a new, high resolution, stereo dataset, of scenes shot in indoor environments, and processed using both sparse and dense stereo matching algorithms. It is shown that the algorithm’s performance doesn’t deteriorate, and in fact sometimes improves, when learning only from sparse, high confidence regions rather than from the computationally expensive, dense, occlusion-filled and highly post-processed dense depth maps. This makes the approach very promising for self- supervised learning on autonomous robots.},
note = {de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Stereo vision systems are often employed in robotics as a means for obstacle avoidance and navigation. These systems have inherent depth-sensing limitations, with significant problems in occluded and untextured regions, leading to sparse depth maps. We propose using a monocular depth estimation algorithm to tackle these problems, in a Self-Supervised Learning (SSL) framework. The algorithm learns online from the sparse depth map generated by a stereo vision system, producing a dense depth map. The algorithm is designed to be computationally efficient, for implementation onboard resource-constrained mobile robots and unmanned aerial vehicles. Within that context, it can be used to provide both reliability against a stereo camera failure, as well as more accurate depth perception, by filling in missing depth information, in occluded and low texture regions. This in turn allows the use of more efficient sparse stereo vision algorithms. We test the algorithm offline on a new, high resolution, stereo dataset, of scenes shot in indoor environments, and processed using both sparse and dense stereo matching algorithms. It is shown that the algorithm’s performance doesn’t deteriorate, and in fact sometimes improves, when learning only from sparse, high confidence regions rather than from the computationally expensive, dense, occlusion-filled and highly post-processed dense depth maps. This makes the approach very promising for self- supervised learning on autonomous robots. |
P. Goyal Mission Planning for Sensor Network Deployment using a Fleet of Drones (Masters Thesis) Delft University of Technology, 2016, (Hoekstra, J.M. (mentor); Blacquiere, G. (mentor); de Croon, G.C.H.E. (mentor); Smeur, E.J.J. (mentor)). @mastersthesis{uuid:e5604e9a-c241-4236-83dd-5fc823e7e284,
title = {Mission Planning for Sensor Network Deployment using a Fleet of Drones},
author = {P. Goyal},
url = {http://resolver.tudelft.nl/uuid:e5604e9a-c241-4236-83dd-5fc823e7e284},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Various methods for route planning of on-road vehicles to serve transportation requests have been developed in the literature in order to reduce transportation and operational costs. The applicability and thus development of these methods is primarily motivated by the field of application. This article deals with the mission planning for a fleet of drones to deploy sensors in a network. In particular, they are conceived to complete the task of delivering geophones in the seismic surveys. Unlike conventional on-road vehicles used for delivery purposes, every drone in the fleet is constrained to make a frequent return trip back to the depot to pick-up a new payload and restore its battery. A centralized planner is proposed in this article due to this constraint. The problem of planning is decomposed into two phases: route formation and route scheduling. The first phase is handled using the extensive formulation of Multi-Trip Vehicle Routing Problem (MTVRP) aiming at minimizing the overall journey time. A heuristic method is also proposed for this phase which provides near-optimal solutions in a computationally efficient manner. The second phase of the planning algorithm deals with the unaddressed problem of depot congestion arising due to the frequent visits of each drone to the depot. This problem is expressed in the form of a Mixed-Integer Linear Program (MILP) that can be solved using available software. This phase is computationally intensive and comparatively slow which restricts the usage of this mission planner in the re-planning phase to the cases involving longer journeys with limited number of routes. The results from a flight-test are also presented in order to demonstrate the mission planner.},
note = {Hoekstra, J.M. (mentor); Blacquiere, G. (mentor); de Croon, G.C.H.E. (mentor); Smeur, E.J.J. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Various methods for route planning of on-road vehicles to serve transportation requests have been developed in the literature in order to reduce transportation and operational costs. The applicability and thus development of these methods is primarily motivated by the field of application. This article deals with the mission planning for a fleet of drones to deploy sensors in a network. In particular, they are conceived to complete the task of delivering geophones in the seismic surveys. Unlike conventional on-road vehicles used for delivery purposes, every drone in the fleet is constrained to make a frequent return trip back to the depot to pick-up a new payload and restore its battery. A centralized planner is proposed in this article due to this constraint. The problem of planning is decomposed into two phases: route formation and route scheduling. The first phase is handled using the extensive formulation of Multi-Trip Vehicle Routing Problem (MTVRP) aiming at minimizing the overall journey time. A heuristic method is also proposed for this phase which provides near-optimal solutions in a computationally efficient manner. The second phase of the planning algorithm deals with the unaddressed problem of depot congestion arising due to the frequent visits of each drone to the depot. This problem is expressed in the form of a Mixed-Integer Linear Program (MILP) that can be solved using available software. This phase is computationally intensive and comparatively slow which restricts the usage of this mission planner in the re-planning phase to the cases involving longer journeys with limited number of routes. The results from a flight-test are also presented in order to demonstrate the mission planner. |
J. P. Rocha Silva Quadrotor Thrust Vectoring Control with Time Optimal Trajectory Planning in Constant Wind Fields (Masters Thesis) Delft University of Technology, 2016, (de Croon, G.C.H.E. (mentor)). @mastersthesis{uuid:e714d5b9-236d-4509-bc80-79035c0f4725,
title = {Quadrotor Thrust Vectoring Control with Time Optimal Trajectory Planning in Constant Wind Fields},
author = {J. P. Rocha Silva},
url = {http://resolver.tudelft.nl/uuid:e714d5b9-236d-4509-bc80-79035c0f4725},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This work proposes a control strategy to follow time optimal trajectories planned to visit a given set of waypoints in windy conditions. The aerodynamic effects of quadrotors are investigated, with emphasis on blade flapping, induced and parasitic drag. An extended method to identify all the aerodynamic coefficients is developed, and their influence on the performance is analyzed. A computationally efficient three steps approach is suggested to optimize the trajectory, by minimizing aerodynamic drag and jerk while still guaranteeing near optimal results. The derived smooth trajectory is compared with standard discrete point to point followed by low-pass filtering trajectories, showing energetic improvements in thrust and reductions in Euler angles aggressiveness. By exploiting the non-linear aerodynamic effects and using a priori trajectory information, a thrust vectoring controller is designed and compared with a standard PID controller, showing an increase in performance by reducing the tracking delay and extending the flight envelope.},
note = {de Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This work proposes a control strategy to follow time optimal trajectories planned to visit a given set of waypoints in windy conditions. The aerodynamic effects of quadrotors are investigated, with emphasis on blade flapping, induced and parasitic drag. An extended method to identify all the aerodynamic coefficients is developed, and their influence on the performance is analyzed. A computationally efficient three steps approach is suggested to optimize the trajectory, by minimizing aerodynamic drag and jerk while still guaranteeing near optimal results. The derived smooth trajectory is compared with standard discrete point to point followed by low-pass filtering trajectories, showing energetic improvements in thrust and reductions in Euler angles aggressiveness. By exploiting the non-linear aerodynamic effects and using a priori trajectory information, a thrust vectoring controller is designed and compared with a standard PID controller, showing an increase in performance by reducing the tracking delay and extending the flight envelope. |
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?
