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

766 entries « 8 of 16 »

2020

Journal Articles

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

Books

Tom Dijk

Self-­Supervised Learning for Visual Obstacle Avoidance (Book)

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

(Links | BibTeX)

data

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

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

2020.

(Links | BibTeX)

Proceedings Articles

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

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

(Links | BibTeX)

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

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

In: AIAA AVIATION 2020 FORUM, 2020, (Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; AIAA Aviation Forum ; Conference date: 15-06-2020 Through 19-06-2020).

(Links | BibTeX)

Masters Theses

Eduardo Falcão da Cruz Rodrigues Lourenço

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

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

(Abstract | Links | BibTeX)

Rano Veder

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

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

(Abstract | Links | BibTeX)

Bart Duisterhof

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

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

(Abstract | Links | BibTeX)

Karan Bains

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

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

(Abstract | Links | BibTeX)

Lars Dellemann

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

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

(Abstract | Links | BibTeX)

Avinash Mattar

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

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

(Abstract | Links | BibTeX)

Nishant Patel

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

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

(Abstract | Links | BibTeX)

Dennis Wijngaarden

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

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

(Abstract | Links | BibTeX)

Jan Karssies

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

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

(Abstract | Links | BibTeX)

Louis Cheung

Fuel Cell Drone for Soil Monitoring (Masters Thesis)

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

(Abstract | Links | BibTeX)

Bas Büller

Supervised Learning in Spiking Neural Networks (Masters Thesis)

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

(Abstract | Links | BibTeX)

David Jong

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

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

(Abstract | Links | BibTeX)

Simon Spronk

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

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

(Abstract | Links | BibTeX)

Simon Spronk

An Nonlinear Model Predictive Control Approach to Autonomous UAV Racing Trajectory Generation and Control (Masters Thesis)

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

(Abstract | Links | BibTeX)

C. P. L. Jong

Never Landing Drone (Masters Thesis)

TU Delft Aerospace Engineering, 2020, (Remes, B.D.W. (mentor); de Croon, G.C.H.E. (graduation committee); 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)

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)

766 entries « 8 of 16 »