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

691 entries « 7 of 14 »

2020

Masters Theses

Jesse Hagenaars

Evolved Neuromorphic Control for High Speed Divergence-based Landings of MAVs (Masters Thesis)

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

(Abstract | Links | BibTeX)

Jesse Hagenaars

Evolved Neuromorphic Control for High Speed Divergence-based Landings of MAVs (Masters Thesis)

Delft University of Technology, Delft, NL, 2020.

(Links | BibTeX)

Miscellaneous

Dimos Tzoumanikas; Felix Graule; Qingyue Yan; Dhruv Shah; Marija Popovic; Stefan Leutenegger

Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing (Miscellaneous)

2020.

(Links | BibTeX)

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

An autonomous swarm of micro flying robots with range-based relative localization (Miscellaneous)

2020.

(Links | BibTeX)

A. Narasimhan; C. C. Visser; C. Wagter; M. Rischmueller

Fault Tolerant Control of Multirotor UAV for Piloted Outdoor Flights (Miscellaneous)

2020.

(Links | BibTeX)

PhD Theses

S. Li

Visual Navigation and Optimal Control for Autonomous Drone Racing (PhD Thesis)

Delft University of Technology, 2020, ISBN: 978-94-6384-175-7.

(Links | BibTeX)

2019

Journal Articles

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

Unsupervised Tuning of Filter Parameters Without Ground-Truth Applied to Aerial Robots (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4102–4107, 2019, ISSN: 2377-3766.

(Links | BibTeX)

S Li; C De Wagter; G C H E de Croon

Unsupervised Tuning of Filter Parameters Without Ground-Truth Applied to Aerial Robots (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4102-4107, 2019, ISSN: 2377-3766.

(Links | BibTeX)

M Coppola; J Guo; E Gill; G C H E de Croon

The PageRank algorithm as a method to optimize swarm behavior through local analysis (Journal Article)

In: Swarm Intelligence, 2019, ISSN: 1935-3820.

(Links | BibTeX)

S. F. Armanini; J. V. Caetano; C. C. Visser; M. D. Pavel; G. C. H. E. Croon; M. Mulder

Modelling wing wake and tail aerodynamics of a flapping-wing micro aerial vehicle (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 11, 2019, ISSN: 1756-8293.

(Links | BibTeX)

Fede Paredes Valles; Kirk Scheper; Guido Croon

Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perception (Journal Article)

In: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 42 (2020), no. 8, pp. 2051–2064, 2019, ISSN: 0162-8828.

(Links | BibTeX)

Shuo Li; C. De Wagter; C. C. Visser; Q. P. Chu; G. C. H. E. Croon

In-flight model parameter and state estimation using gradient descent for high-speed flight (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 11, 2019, ISSN: 1756-8293.

(Links | BibTeX)

Alberto Pretto; Stéphanie Aravecchia; Wolfram Burgard; Nived Chebrolu; Christian Dornhege; Tillmann Falck; Freya Fleckenstein; Alessandra Fontenla; Marco Imperoli; Raghav Khanna; Frank Liebisch; Philipp Lottes; Andres Milioto; Daniele Nardi; Sandro Nardi; Johannes Pfeifer; Marija Popović; Ciro Potena; Cédric Pradalier; Elisa Rothacker-Feder; Inkyu Sa; Alexander Schaefer; Roland Siegwart; Cyrill Stachniss; Achim Walter; Wera Winterhalter; Xiaolong Wu; Juan Nieto

Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution (Journal Article)

In: 2019.

(Links | BibTeX)

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

Multibody system modelling of unmanned aircraft system collisions with the human head (Journal Article)

In: International Journal of Crashworthiness, vol. 25 (2020), no. 6, pp. 689–707, 2019, ISSN: 1358-8265.

(Links | BibTeX)

K. M. Kajak; M. Karásek; Q. P. Chu; G. C. H. E. Croon

A minimal longitudinal dynamic model of a tailless flapping wing robot for control design (Journal Article)

In: Bioinspiration & biomimetics, vol. 14, no. 4, 2019, ISSN: 1748-3182, (Accepted author manuscript).

(Links | BibTeX)

Christophe De Wagter; Joost Meulenbeld

Modeling the unstable DelftaCopter vertical take-off and landing tailsitter unmanned air vehicle in hover and forward flight from flight test data (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 11, 2019, ISSN: 1756-8293.

(Links | BibTeX)

Kimberly McGuire; Christophe Wagter; K. Tuyls; H. J. Kappen

Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment (Journal Article)

In: Science Robotics, vol. 4, no. 35, 2019, ISSN: 2470-9476.

(Links | BibTeX)

M. Coppola; J. Guo; E. Gill; G. C. H. E. Croon

The PageRank algorithm as a method to optimize swarm behavior through local analysis (Journal Article)

In: Swarm Intelligence, vol. 13, no. 3-4, pp. 277–319, 2019, ISSN: 1935-3812.

(Links | BibTeX)

Hyungpil Moon; Jose Martinez-Carranza; Titus Cieslewski; Matthias Faessler; Davide Falanga; Shuo Li; Michaël Ozo; Christophe Wagter; Guido Croon; More Authors

Challenges and implemented technologies used in autonomous drone racing (Journal Article)

In: Intelligent service robotics, vol. 12, no. 2, pp. 137–148, 2019, ISSN: 1861-2776.

(Links | BibTeX)

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 (Journal Article)

In: Science Robotics, vol. 4, no. 35, 2019.

(Links | BibTeX)

K N McGuire; G C H E de Croon; K Tuyls

A comparative study of bug algorithms for robot navigation (Journal Article)

In: Robotics and Autonomous Systems, vol. 121, pp. 103261, 2019, ISSN: 0921-8890.

(Abstract | Links | BibTeX)

Christophe De Wagter; Joost Meulenbeld

Modeling the unstable DelftaCopter vertical take-off and landing tailsitter unmanned air vehicle in hover and forward flight from flight test data (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 11, pp. 1756829319880302, 2019.

(Links | BibTeX)

Hyungpil Moon; Jose Martinez-Carranza; Titus Cieslewski; Matthias Faessler; Davide Falanga; Alessandro Simovic; Davide Scaramuzza; Shuo Li; Michael Ozo; Christophe De Wagter; others

Challenges and implemented technologies used in autonomous drone racing (Journal Article)

In: Intelligent Service Robotics, pp. 1–12, 2019.

(BibTeX)

Steven Helm; Mario Coppola; Kimberly N. McGuire; Guido C. H. E. Croon

On-board range-based relative localization for micro air vehicles in indoor leader–follower flight (Journal Article)

In: Autonomous Robots, vol. 44, no. 3-4, pp. 415–441, 2019, ISSN: 0929-5593.

(Links | BibTeX)

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

Provable self-organizing pattern formation by a swarm of robots with limited knowledge (Journal Article)

In: Swarm Intelligence, vol. 13, no. 1, pp. 59–94, 2019, ISSN: 1935-3812.

(Links | BibTeX)

Matěj Karásek; Mustafa Percin; Torbjørn Cunis; Bas W. Oudheusden; Christophe De Wagter; Bart D. W. Remes; Guido C. H. E. Croon

Accurate position control of a flapping-wing robot enabling free-flight flow visualisation in a wind tunnel (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 11, 2019, ISSN: 1756-8293.

(Links | BibTeX)

Conferences

Florian T. Muijres; Matej Karasek; Christophe Wagter; Bart Remes; Guido Croon

A Bio-inspired Free-flying Robot Reveals that Flies Use Torque Coupling in Rapid Banked Turns (Conference)

2019, (SICB Annual Meeting 2019 ; Conference date: 03-01-2019 Through 07-01-2019).

(Links | BibTeX)

data

Kimberly McGuire

Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment (data)

2019.

(Links | BibTeX)

Karl Martin Kajak; Matej Karasek; Quiping Chu; Guido De Croon

A minimal longitudinal dynamic model of a tailless flapping wing robot for control design (dataset) (data)

2019.

(Links | BibTeX)

Proceedings Articles

Tom Dijk; Guido Croon

How Do Neural Networks See Depth in Single Images? (Proceedings Article)

In: Proceedings - 2019 International Conference on Computer Vision, ICCV 2019, pp. 2183–2191, 2019, (The IEEE International Conference on Computer Vision 2019, ICCV ; Conference date: 27-10-2019 Through 02-11-2019).

(Links | BibTeX)

Diana A Olejnik; Bas P Duisterhof; Matej Kar á; Kirk Y W Scheper; Tom van Dijk; Guido C H E de Croon

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

In: Campoy, P (Ed.): 11th International Micro Air Vehicle Competition and Conference, pp. 60–66, Madrid, Spain, 2019.

(BibTeX)

Hector Garcia De Marina; Ewoud Smeur

Flexible collaborative transportation by a team of rotorcraft (Proceedings Article)

In: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 1074–1080, Institute of Electrical and Electronics Engineers (IEEE), United States, 2019, (2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019).

(Links | BibTeX)

Diana Olejnik; Matej Karasek; Bart Duisterhof; Kirk Scheper; Tom Dijk; Guido Croon

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

In: Campoy, P. (Ed.): International Micro Air Vehicle Competition and Conference, pp. 60–66, 2019, (International Micro Air Vehicle Competition and Conference 2019, IMAV 2019 ; Conference date: 30-09-2019 Through 04-10-2019).

(Links | BibTeX)

Borrdephong Rattanagraikanakorn; Michiel Schuurman; Derek Gransden; Riender Happee; Christophe Wagter; Alexei Sharpanskykh; Henk Blom

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

In: AIAA Aviation 2019 Forum, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2019, (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 2019 Forum ; Conference date: 17-06-2019 Through 21-06-2019).

(Links | BibTeX)

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

Modelling Head Injury due to Unmanned Aircraft Systems Collision: Crash Dummy vs Human Body (Proceedings Article)

In: 2019 AIAA Aviation and Aeronautics Forum and Exposition, AIAA, 2019.

(Links | BibTeX)

Dorian Heitzig; Bas Oudheusden; Diana Olejnik; Matej Karasek

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

In: International Micro Air Vehicle Competition and Conference, 2019, (International Micro Air Vehicle Competition and Conference 2019, IMAV 2019 ; Conference date: 30-09-2019 Through 04-10-2019).

(Links | BibTeX)

Dirk Wijnker; Tom Dijk; M. Snellen; Guido Croon; Christophe Wagter

Hear-and-avoid for UAVs using convolutional neural networks (Proceedings Article)

In: International Micro Air Vehicle Competition and Conference, pp. 144–156, 2019, (International Micro Air Vehicle Competition and Conference 2019, IMAV 2019 ; Conference date: 30-09-2019 Through 04-10-2019).

(Links | BibTeX)

Masters Theses

Alex Lyrakis

Low-cost stereo-based obstacle avoidance for small UAVs using uncertainty maps (Masters Thesis)

TU Delft Electrical Engineering, Mathematics and Computer Science, 2019, (van Dijk, Tom (mentor); de Croon, G.C.H.E. (mentor); Wong, J.S.S.M. (mentor); Verhoeven, C.J.M. (graduation committee); van Genderen, A.J. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Stein Stroobants

On-board Micro Quadrotor State Estimation Using Range Measurements: A Moving Horizon Approach (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering, 2019, (Keviczky, Tamas (mentor); de Croon, Guido (graduation committee); Li, Shushuai (graduation committee); de Wagter, Christophe (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jiahao Lin

Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Cognitive Robotics, 2019, (de Croon, Guido (mentor); Alonso Mora, Javier (mentor); Ferrari, Riccardo M.G. (graduation committee); Zhu, Hai (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Nilay Sheth

State Estimation and Optimal Control for Racing Drones: In search of control algorithms for competing against human pilots (Masters Thesis)

TU Delft Electrical Engineering, Mathematics and Computer Science, 2019, (de Croon, Guido (mentor); de Wagter, Christophe (mentor); Langendoen, Koen (mentor); Zuñiga Zamalloa, Marco (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Dorian Heitzig

Wing deformation measurements of the DelFly II in different flight conditions (Masters Thesis)

TU Delft Aerospace Engineering, 2019, (van Oudheusden, B.W. (mentor); De Breuker, R. (graduation committee); de Wagter, C. (graduation committee); Olejnik, D.A. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Abhishek Chatterjee

Monocular Optical Flow based Attitude Estimation in Micro Aerial Vehicles: A Bio-Inspired Approach (Masters Thesis)

TU Delft Aerospace Engineering, 2019, (de Croon, G.C.H.E. (mentor); Olejnik, D.A. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Dave Kroezen

Online Reinforcement Learning for Flight Control: An Adaptive Critic Design without prior model knowledge (Masters Thesis)

TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2019, (van Kampen, E. (mentor); de Croon, G.C.H.E. (graduation committee); Mitici, M.A. (graduation committee); Pan, W. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jorgen Nijboer

Longitudinal grey-box model identification of a tailless flapping-wing MAV based on free-flight data (Masters Thesis)

TU Delft Aerospace Engineering, 2019, (de Visser, Coen (mentor); Karasek, Matej (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Jari Blom

Onboard Visual Control of a Quadcopter MAV performing a Landing Task: on a Platform of Unknown Size and Location (Masters Thesis)

TU Delft Aerospace Engineering; TU Delft Control & Simulation, 2019, (de Croon, G.C.H.E. (graduation committee); Scheper, K.Y.W. (mentor); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Bianca Bendriş

Decentralized Stochastic Optimal Control for a Swarm of Micro Aerial Vehicles (Masters Thesis)

TU Delft Aerospace Engineering, 2019, (de Croon, Guido (mentor); McGuire, Kimberly (graduation committee); Kappen, Bert (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Thomas Fijen

Persistent Surveillance of a Greenhouse: Evolved neural network controllers for a swarm of UAVs (Masters Thesis)

TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Delft Center for Systems and Control, 2019, (Keviczky, T. (mentor); de Croon, G.C.H.E. (mentor); Coppola, M. (graduation committee); Delft University of Technology (degree granting institution)).

(Abstract | Links | BibTeX)

Miscellaneous

Hermann Blum; Silvan Rohrbach; Marija Popovic; Luca Bartolomei; Roland Siegwart

Active Learning for UAV-based Semantic Mapping (Miscellaneous)

2019.

(Links | BibTeX)

Ajith Anil Meera; Marija Popovic; Alexander Millane; Roland Siegwart

Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search (Miscellaneous)

2019.

(Links | BibTeX)

691 entries « 7 of 14 »