Publications

In our recent Nature article, we developed a new theory on how flying drones and insects can estimate gravity direction by combining visual motion sensing with a model of how they move. This discovery forms a parsimonious explanation of multiple phenomena observed in biology and is also an important step for the creation of autonomous tiny drones with even fewer sensors. 

Guido C. H. E. Croon, Julien J. G. Dupeyroux, Christophe De Wagter, Abhishek Chatterjee, Diana A. Olejnik, Franck Ruffier: Accommodating unobservability to control flight attitude with optic flow. In: Nature, vol. 610, no. 7932, pp. 485–490, 2022, ISSN: 0028-0836.
 

Nature Machine Intelligence Paper

Whereas insects seem to control their flight effortlessly with the help of optical flow, robots that attempt to do the same run into problems. We propose as a solution a learning process that allows robots to see distances by means of visual appearance (colors, textures, shapes). Would it be possible that insects do the same?

The article is featured on the cover of Nature Machine Intelligence. Cover reprinted by permission from Springer Nature.

G.C.H.E. de Croon, C. De Wagter, T. Seidl: Enhancing optical-flow-based control by learning visual appearance cues for flying robots. In: Nature Machine Intelligence, vol. 3, no. 1, 2021.

Science Robotics Paper

Our recent paper in Science Robotics presents the first swarm of tiny robots that can explore unknown environments completely by themselves. No map, no memory, and no GPS! The full paper can be found here.

K N McGuire, C De Wagter, K Tuyls, H J Kappen, G C H E de Croon: Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. In: Science Robotics, vol. 4, no. 35, 2019.

 

Delfly Book

 

 

Our book about the DelFly has been published! The book introduces the topics most relevant to autonomously flying flapping-wing robots: flapping-wing design, aerodynamics, and artificial intelligence.

 

G C H E de Croon, Mustafa Percin, B D W Remes, Rick Ruijsink, C De Wagter: The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot. Springer Netherlands, 2016, ISBN: 978-94-017-9207-3.

 

Science paper

 

 

The Delfly Nimble was featured on the cover of Science Magazine in September 2018.

 

Matěj Karásek, Florian T Muijres, Christophe De Wagter, Bart D W Remes, Guido C H E de Croon: A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns. In: Science, vol. 361, no. 6407, pp. 1089–1094, 2018, ISSN: 0036-8075.

 

 

 

 

 

All publications

693 entries « 8 of 14 »

2019

Miscellaneous

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

Active Learning for UAV-based Semantic Mapping (Miscellaneous)

2019.

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

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

2019.

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Marija Popovic; Teresa Vidal-Calleja; Jen Jen Chung; Juan Nieto; Roland Siegwart

Informative Path Planning for Active Field Mapping under Localization Uncertainty (Miscellaneous)

2019.

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Guido Croon

Obstacle detection using horizon-based learning (Miscellaneous)

2019, (G06K).

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Bardienus P. Duisterhof; Srivatsan Krishnan; Jonathan J. Cruz; Colby R. Banbury; William Fu; Aleksandra Faust; Guido C. H. E. Croon; Vijay Janapa Reddi

Learning to Seek: Autonomous Source Seeking with Deep Reinforcement Learning Onboard a Nano Drone Microcontroller (Miscellaneous)

2019.

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Tom Dijk; Guido C. H. E. Croon

How do neural networks see depth in single images? (Miscellaneous)

2019.

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Hector Garcia Marina; Ewoud Smeur

Flexible collaborative transportation by a team of rotorcraft (Miscellaneous)

2019.

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PhD Theses

Kirk Scheper

Abstraction as a Tool to Bridge the Reality Gap in Evolutionary Robotics (PhD Thesis)

Delft University of Technology, 2019.

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Kimberly McGuire

Indoor swarm exploration with Pocket Drones (PhD Thesis)

Delft University of Technology, 2019, ISBN: 978-94-6182-976-4.

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2018

Journal Articles

Mario Coppola; Kimberly N McGuire; Kirk Y W Scheper; Guido C H E de Croon

On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams (Journal Article)

In: Autonomous Robots, vol. 42, no. 8, pp. 1787–1805, 2018, ISSN: 1573-7527.

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Christophe Wagter; Matej Karasek; Guido Croon

Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 10, no. 3, pp. 244–253, 2018, ISSN: 1756-8293.

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Alex Del Estal Herrero; Mustafa Perçin; Matej Karasek; Bas Oudheusden

Flow Visualization around a Flapping-Wing Micro Air Vehicle in Free Flight Using Large-Scale PIV (Journal Article)

In: Aerospace — Open Access Aeronautics and Astronautics Journal, vol. 5, no. 4, 2018, ISSN: 2226-4310.

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Alex Del Estal Herrero; Mustafa Perc cin; Matej Karasek; Bas Oudheusden

Flow Visualization around a Flapping-Wing Micro Air Vehicle in Free Flight Using Large-Scale PIV (Journal Article)

In: Aerospace — Open Access Aeronautics and Astronautics Journal, vol. 5, no. 4, 2018, ISSN: 2226-4310.

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Matej Karasek; 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 (Journal Article)

In: Science, vol. 361, no. 6407, pp. 1089–1094, 2018, ISSN: 0036-8075.

(Links | BibTeX)

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 (Journal Article)

In: Science, vol. 361, no. 6407, pp. 1089–1094, 2018, ISSN: 0036-8075.

(Links | BibTeX)

Sjoerd Tijmons; Matěj Karásek; Guido De Croon

Attitude control system for a lightweight flapping wing MAV (Journal Article)

In: Bioinspiration and Biomimetics, vol. 13, no. 5, 2018, ISSN: 1748-3182.

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Sjoerd Tijmons; Christophe Wagter; Bart Remes; Guido Croon

Autonomous Door and Corridor Traversal with a 20-Gram Flapping Wing MAV by Onboard Stereo Vision (Journal Article)

In: Aerospace — Open Access Aeronautics and Astronautics Journal, vol. 5, no. 3, 2018, ISSN: 2226-4310.

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G. J. J. Dalen; Kimberly McGuire; Guido Croon

Visual Homing for Micro Aerial Vehicles Using Scene Familiarity (Journal Article)

In: Unmanned Systems, vol. 06, no. 02, pp. 119–130, 2018, ISSN: 2301-3850.

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Julien Marzat; Guido de Croon; Friedrich Fraundorfer; Pascal Morin; Antonios Tsourdos

Estimation and control for MAV navigation in GPS-denied cluttered environments (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 10, no. 2, pp. 125–239, 2018, ISSN: 1756-8293.

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Julien Marzat; Guido de Croon; Friedrich Fraundorfer; Pascal Morin; Antonios Tsourdos

Editorial for special collection on the estimation and control of MAV navigation in GPS-denied cluttered environments (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 10, no. 2, pp. 125–126, 2018, ISSN: 1756-8293.

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E. J. J. Smeur; G. C. H. E. Croon; Q. Chu

Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection (Journal Article)

In: Control Engineering Practice, vol. 73, pp. 79–90, 2018, ISSN: 0967-0661.

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H. W. Ho; C. De Wagter; B. D. W. Remes; G. C. H. E. Croon

Optical-Flow based Self-Supervised Learning of Obstacle Appearance applied to MAV Landing (Journal Article)

In: Robotics and Autonomous Systems, vol. 100, pp. 78–94, 2018, ISSN: 0921-8890.

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Sihao Sun; Leon Sijbers; Xuerui Wang; Coen Visser

High-Speed Flight of Quadrotor Despite Loss of Single Rotor (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3201 – 3207, 2018, ISSN: 2377-3766, (Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.).

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Sophie Armanini; Matej Karasek; Coen Visser

Global Linear Parameter-Varying Modeling of Flapping-Wing Dynamics Using Flight Data (Journal Article)

In: Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control, vol. 41, no. 11, pp. 2338–2360, 2018, ISSN: 0731-5090.

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Kevin Hecke; Guido Croon; Laurens Maaten; Daniel Hennes; Dario Izzo

Persistent self-supervised learning: From stereo to monocular vision for obstacle avoidance (Journal Article)

In: International Journal of Micro Air Vehicles, vol. 10, no. 2, pp. 186–206, 2018, ISSN: 1756-8293.

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H. W. Ho; G. C. H. E. Croon; E. Kampen; Q. P. Chu; M. Mulder

Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing (Journal Article)

In: IEEE Transactions on Robotics, vol. 34, no. 2, pp. 508 – 516, 2018, ISSN: 1552-3098.

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Mario Coppola; Kimberly N. McGuire; Kirk Y. W. Scheper; Guido C. H. E. Croon

On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams (Journal Article)

In: Autonomous Robots, vol. 42, no. 8, pp. 1787–1805, 2018, ISSN: 0929-5593.

(Links | BibTeX)

Christophe Wagter; Rick Ruijsink; Ewoud Smeur; Kevin Hecke; Freek Tienen; Erik Horst; Bart Remes

Design, control, and visual navigation of the DelftaCopter VTOL tail-sitter UAV (Journal Article)

In: Journal of Field Robotics, vol. 35, no. 6, pp. 937–960, 2018, ISSN: 1556-4967.

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Sihao Sun; Leon Sijbers; Xuerui Wang; Coen Visser

High-Speed Flight of Quadrotor Despite Loss of Single Rotor (Journal Article)

In: IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3201 – 3207, 2018, ISSN: 2377-3766, (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)

data

Kevin Hecke

Monocular obstacle avoidance with persistent Self-Supervised Learning (data)

2018.

(Links | BibTeX)

Matej Karasek; 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 (dataset) (data)

2018.

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João Caetano

Free Flight Data DelFly II - AFRL Vicon Tests (data)

2018.

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Book Chapters

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

Characterizing UAS collision consequences in future UTM (Book Chapter)

In: 2018 Aviation Technology, Integration, and Operations Conference, American Institute of Aeronautics and Astronautics (AIAA), 2018.

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Proceedings Articles

Menno Goedhart; Erik-Jan Kampen; Sophie Armanini; Coen Visser; Qiping Chu

Machine Learning for Flapping Wing Flight Control (Proceedings Article)

In: Proceedings of the 2018 AIAA Information Systems-AIAA Infotech @ Aerospace, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2018, (AIAA Information Systems-AIAA Infotech at Aerospace, 2018 ; Conference date: 08-01-2018 Through 12-01-2018).

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Guido Croon; Christophe Wagter

Challenges of Autonomous Flight in Indoor Environments (Proceedings Article)

In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Madrid, Spain, October 1-5, 2018, pp. 1003– 1009, IEEE, United States, 2018.

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Bart Duisterhof; Guido Croon

Autonomous landing algorithm using a sun position predicting model for extended use of solar powered UAVs (Proceedings Article)

In: Watkins, Simon; Mohamed, Abdulghani (Ed.): 10th International Micro-Air Vehicles Conference, pp. 315–323, 2018, (10th International Micro-Air Vehicles Conference, IMAV 2018 ; Conference date: 22-11-2018 Through 23-11-2018).

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Titus Braber; Christophe Wagter; Guido Croon; Robert Babuska

Optical-flow-based Stabilization of Micro Air Vehicles Without Scaling Sensors (Proceedings Article)

In: Watkins, Prof. Simon; Mohamed, Dr. Abdulghani (Ed.): 10th International Micro-Air Vehicles Conference, pp. 289–297, 2018, (10th International Micro-Air Vehicles Conference, IMAV 2018 ; Conference date: 22-11-2018 Through 23-11-2018).

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Diana Olejnik; Aadithya Sujit; Matej Karasek; Bart Remes; Guido Croon

Wing Sweeping Mechanism for Active Control and Stabilisation of a Flapping Wing MAV (Proceedings Article)

In: Watkins, Simon; Mohamed, Abdulghani (Ed.): 10th International Micro-Air Vehicles Conference, pp. 120–126, 2018, (10th International Micro-Air Vehicles Conference, IMAV 2018 ; Conference date: 22-11-2018 Through 23-11-2018).

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Christophe Wagter; Bart Remes; Rick Ruijsink; Erik Horst; Freek Tienen; Dennis Wijngaarden; Joost Meulenbeld; Kevin Hecke

DelftaCopter Propulsion Optimization from Hover to Fast Forward Flight usingWindtunnel Measurements (Proceedings Article)

In: Mohamed, Abdulghani; Watkins, Simon (Ed.): 10th International Micro-Air Vehicles Conference, pp. 30–38, 2018, (10th International Micro-Air Vehicles Conference, IMAV 2018 ; Conference date: 22-11-2018 Through 23-11-2018).

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Joost Meulenbeld; Christophe Wagter; Bart Remes

Modeling DelftaCopter from Flight Test Data (Proceedings Article)

In: Watkins, Simon; Mohamed, Abdulghani (Ed.): 10th International Micro-Air Vehicles Conference, pp. 18–29, 2018, (10th International Micro-Air Vehicles Conference, IMAV 2018 ; Conference date: 22-11-2018 Through 23-11-2018).

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Kirk Scheper; Matej Karasek; Christophe Wagter; Bart Remes; Guido Croon

First autonomous multi-room exploration with an insect-inspired flapping wing vehicle (Proceedings Article)

In: International Conference on Robotics and Automation, pp. 5546 – 5552, IEEE, United States, 2018, (ICRA 2018: 2018 IEEE International Conference on Robotics and Automation ; Conference date: 21-05-2018 Through 25-05-2018).

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Alex Del Estal Herrero; Mustafa Perçin; Matej Karasek; Bas Oudheusden

Flow visualization around a flapping-wing micro air vehicle in free flight (Proceedings Article)

In: Rösgen, Thomas (Ed.): Proceedings 18th International Symposium on Flow Visualization, ETH Zürich, 2018, (ISFV18: 18th International Symposium on Flow Visualization, ISFV18 ; Conference date: 26-06-2018 Through 29-06-2018).

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Blanca Martinez Gallar; Bas Oudheusden; Andrea Sciacchitano; Matej Karasek

Large-scale flow visualization of a flapping-wing micro air vehicle (Proceedings Article)

In: Rösgen, Thomas (Ed.): Proceedings 18th International Symposium on Flow Visualization, ETH Zürich, 2018, (ISFV18: 18th International Symposium on Flow Visualization, ISFV18 ; Conference date: 26-06-2018 Through 29-06-2018).

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Frank Rijks; Matej Karasek; Sophie Armanini; Coen Visser

Studying the Effect of the Tail on the Dynamics of a Flapping-Wing MAV using Free-Flight Data (Proceedings Article)

In: Proceedings of the 2018 AIAA Modeling and Simulation Technologies Conference, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2018, (2018 AIAA Modeling and Simulation Technologies Conference ; Conference date: 08-01-2018 Through 12-01-2018).

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Sophie Armanini; Matej Karasek; Coen Visser

Global LPV model identification of flapping-wing dynamics using flight data (Proceedings Article)

In: Proceedings of the 2018 AIAA Modeling and Simulation Technologies Conference, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2018, (2018 AIAA Modeling and Simulation Technologies Conference ; Conference date: 08-01-2018 Through 12-01-2018).

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Mario Coppola; Guido C H E de Croon

Optimization of Swarm Behavior Assisted by an Automatic Local Proof for a Pattern Formation Task (Proceedings Article)

In: Dorigo, Marco; Birattari, Mauro; Blum, Christian; Christensen, Anders L; Reina, Andreagiovanni; Trianni, Vito (Ed.): Swarm Intelligence, pp. 123–134, Springer International Publishing, Cham, 2018, ISBN: 978-3-030-00533-7.

(BibTeX)

Blanca Martínez Gallar; Bas W van Oudheusden; Andrea Sciacchitano; Matěj Karásek

Large-Scale Flow Visualization of a Flapping-Wing Micro Air Vehicle (Proceedings Article)

In: 18th International Symposium on Flow Visualization ISFV 18, Zurich, Switzerland, 2018.

(BibTeX)

Frank G Rijks; Matěj Karásek; Sophie F Armanini; Coen C de Visser

Studying the Effect of the Tail on the Dynamics of a Flapping-Wing MAV using Free-Flight Data (Proceedings Article)

In: 2018 AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2018, ISBN: 978-1-62410-525-8.

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Sophie F Armanini; Matěj Karásek; Coen C de Visser

Global LPV model identification of flapping-wing dynamics using flight data (Proceedings Article)

In: 2018 AIAA Modeling and Simulation Technologies Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2018, ISBN: 978-1-62410-528-9.

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Kirk Y W Scheper; Matěj Karásek; Christophe De Wagter; Bart D W Remes; Guido C H E de Croon

First autonomous multi-room exploration with an insect-inspired flapping wing vehicle (Proceedings Article)

In: 2018 International Conference on Robotics and Automation, pp. 7, Brisbane, Australia, 2018.

(BibTeX)

693 entries « 8 of 14 »