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

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2021

Masters Theses

Benjamin Keltjens

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

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

(Abstract | Links | BibTeX)

Nicholas Dvorsky

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

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

(Abstract | Links | BibTeX)

Bas Roulaux

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

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

(Abstract | Links | BibTeX)

Nikhil Wessendorp

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

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

(Abstract | Links | BibTeX)

Quincy Booster

Urban MAV: A visual odometry dataset (Masters Thesis)

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

(Abstract | Links | BibTeX)

Rohan Chotalal

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

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

(Abstract | Links | BibTeX)

Raoul Dinaux

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

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

(Abstract | Links | BibTeX)

Jelle Westenberger

Time-Optimal Control for Tiny Quadcopters (Masters Thesis)

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

(Abstract | Links | BibTeX)

Mark Woude

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

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

(Abstract | Links | BibTeX)

Diego De Buysscher

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

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

(Abstract | Links | BibTeX)

Izaak Geursen

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

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

(Abstract | Links | BibTeX)

Daniël Willemsen

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

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

(Abstract | Links | BibTeX)

Max Kemmeren

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

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

(Abstract | Links | BibTeX)

Miscellaneous

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

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

2021.

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

Julius Rückin; Liren Jin; Marija Popović

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

2021.

(Links | BibTeX)

Benjamin Keltjens; Tom Dijk; Guido Croon

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

2021.

(Links | BibTeX)

Jesse Hagenaars; Federico Paredes-Vallés; Guido Croon

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

2021.

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

Nikhil Wessendorp; Raoul Dinaux; Julien Dupeyroux; Guido Croon

Obstacle Avoidance onboard MAVs using a FMCW RADAR (Miscellaneous)

2021.

(Links | BibTeX)

Julien Dupeyroux; Stein Stroobants; Guido Croon

A toolbox for neuromorphic sensing in robotics (Miscellaneous)

2021.

(Links | BibTeX)

M. Karasek; Rick Ruisink

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

2021, (B64C).

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

Stein Stroobants; Julien Dupeyroux; Guido Croon

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

2021.

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

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

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

2021.

(Links | BibTeX)

Sven Pfeiffer; Christophe Wagter; Guido Croon

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

2021.

(Links | BibTeX)

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

The Obstacle Detection and Avoidance Dataset for Drones (Miscellaneous)

2021.

(Links | BibTeX)

PhD Theses

M. Coppola

Automatic Design of Verifiable Robot Swarms (PhD Thesis)

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

(Links | BibTeX)

S. Li

Autonomous Swarms of Tiny Flying Robots (PhD Thesis)

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

(Links | BibTeX)

2020

Journal Articles

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

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

(Abstract | Links | BibTeX)

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

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

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

(Links | BibTeX)

Guido Croon

Flapping wing drones show off their skills (Journal Article)

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

(Links | BibTeX)

Guido de Croon

Flapping wing drones show off their skills (Journal Article)

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

(Abstract | Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

In: Frontiers in Robotics and AI, 2020.

(Links | BibTeX)

Kirk Y. W. Scheper; Guido Croon

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

In: 2020.

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

In: 2020.

(Links | BibTeX)

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

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

In: 2020.

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

Ewoud Smeur; Murat Bronz; Guido Croon

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

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

(Links | BibTeX)

Maria J. Knol; Hieab H. H. Adams; José Rafael J. Romero; Erik B. Van Den Akker; Shuo Li; Sven J. Van Der Lee; Jeroen Van Der Grond; Christopher Chen; Meike W. Vernooij; More Authors

Association of common genetic variants with brain microbleeds: A genome-wide association study (Journal Article)

In: Neurology, vol. 95, no. 24, pp. E3331–E3343, 2020, ISSN: 0028-3878.

(Links | BibTeX)

766 entries « 7 of 16 »