Swarm of Hybrid UAVs for the Acquisition of Distributed Measurements

A Swarm of Hybrid UAV can perform measurements in a large area. To cover this area, the drones need quite some range. However, to perform their measurements, they should be able to land anywhere. That is why the choice is made for hybrid UAVs. A hybrid UAV can take off and land vertically (VTOL) like a helicopter and transition into fast forward flight like an airplane.

There are still challenges regarding hybrid UAVs. We work on control strategies for attitude stabilization as well as guidance and navigation. This way, the hybrid is able to remain stable during hover, forward flight, and in between. Furthermore, it is able to estimate the wind speed and compensate for it using a model of the flight dynamics, such that it can track any ground velocity reference.

Finally, the swarm of hybrids should be able to perform measurements. To do this efficiently, the UAVs need to cooperate, but preferably not in a centralized way. The goal is to give each UAV a local behavior, that will result in the desired global behavior.

 

2014

  • B. Remes, P. Esden-Tempski, F. {van Tienen}, E. Smeur, C. {de Wagter}, and G. {de Croon}, “Lisa-s 2.8g autopilot for gps-based flight of mavs,” in Proceedings of the international micro air vehicle conference and competitions, Netherlands, 2014, p. 280–285.
    [Bibtex]
    @inproceedings{5da684b969cb4e94876ac62a2c05fc91,
    address = {Netherlands},
    author = {BDW Remes and P Esden-Tempski and {van Tienen}, F and EJJ Smeur and {de Wagter}, C and {de Croon}, GCHE},
    booktitle = {Proceedings of the International Micro Air Vehicle conference and competitions},
    editor = {BDW Remes and P Esden-Tempski and {van Tienen}, F and EJJ Smeur and {de wagter}, C and {de Croon}, GCHE},
    keywords = {Conf.proc. > 3 pag},
    language = {English},
    note = {The International Micro Air Vehicle Conference and Competitions ; Conference date: 12-08-2014 Through 15-08-2014},
    pages = {280--285},
    publisher = {Delft University of Technology},
    title = {Lisa-S 2.8g autopilot for GPS-based flight of MAVs},
    url = {https://research.tudelft.nl/en/publications/lisa-s-28g-autopilot-for-gps-based-flight-of-mavs},
    year = {2014}
    }
  • E. Smeur, Q. Chu, G. {de Croon}, B. Remes, C. {de Wagter}, and E. {van der Horst}, “Modelling of a hybrid uav using test flight data,” in Proceedings of the international micro air vehicle conference and competition 2014, Netherlands, 2014, p. 196–203.
    [Bibtex]
    @inproceedings{c552f30539804c0b945bb19f43c91dcc,
    address = {Netherlands},
    author = {EJJ Smeur and QP Chu and {de Croon}, GCHE and BDW Remes and {de Wagter}, C and {van der Horst}, E},
    booktitle = {Proceedings of the International Micro Air Vehicle Conference and Competition 2014},
    editor = {{de Croon}, GCHE and {van Kampen}, E and {de Wagter}, C and {de Visser}, CC},
    keywords = {Conf.proc. > 3 pag},
    language = {English},
    note = {The International Micro Air Vehicle Conference and Competition 2014 ; Conference date: 12-08-2014 Through 15-08-2014},
    pages = {196--203},
    publisher = {Delft University of Technology},
    title = {Modelling of a Hybrid UAV Using Test Flight Data},
    url = {https://research.tudelft.nl/en/publications/modelling-of-a-hybrid-uav-using-test-flight-data},
    year = {2014}
    }

2015

  • [DOI] L. Sikkel, E. Smeur, G. {de Croon}, B. Remes, and Q. Chu, “Robust rotorcraft control using an incremental sliding mode controller,” in Proceedings of the 3rd ceas specialist conference on guidance, navigation and control, 2015, p. 1–17.
    [Bibtex]
    @inproceedings{d7c1dfcaf85b4238a46535fe5b5a9564,
    author = {LNC Sikkel and EJJ Smeur and {de Croon}, GCHE and BDW Remes and QP Chu},
    booktitle = {Proceedings of the 3rd CEAS specialist conference on guidance, navigation and control},
    doi = {10.1007/978-3-319-17518-8},
    editor = {J Bordeneuve-Guibe and A Drouin and C Roos},
    isbn = {978-3-319-17517-1},
    language = {English},
    note = {3rd CEAS specialist conference on guidance, navigation and control, Toulouse, France ; Conference date: 13-04-2015 Through 15-04-2015},
    pages = {1--17},
    publisher = {Springer},
    title = {Robust rotorcraft control using an incremental sliding mode controller},
    url = {https://research.tudelft.nl/en/publications/robust-rotorcraft-control-using-an-incremental-sliding-mode-contr},
    year = {2015}
    }

2016

  • {. D. Wagter and E. Smeur, “Control of a hybrid helicopter with wings,” in International micro air vechicle competition and conference 2016, 2016, p. 87–94.
    [Bibtex]
    @inproceedings{d7a12fa91f174045b7f73033fa496566,
    author = {Wagter, {Christophe De} and Ewoud Smeur},
    booktitle = {International Micro Air Vechicle Competition and Conference 2016},
    day = {17},
    editor = {Z. Peng and F. Lin},
    language = {English},
    month = {October},
    note = {International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016},
    pages = {87--94},
    title = {Control of a Hybrid Helicopter with Wings},
    url = {https://research.tudelft.nl/en/publications/control-of-a-hybrid-helicopter-with-wings},
    url2 = {http://www.imavs.org/2016/},
    year = {2016}
    }
  • [DOI] E. Smeur, Q. Chu, and G. {de Croon}, “Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles,” Journal of guidance, control, and dynamics: devoted to the technology of dynamics and control, vol. 39, iss. 3, p. 450–461, 2016.
    [Bibtex]
    @article{31536cfa89e14d44873ef2f398bd69ca,
    author = {Ewoud Smeur and Qiping Chu and {de Croon}, Guido},
    doi = {10.2514/1.G001490},
    issn = {0731-5090},
    journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
    language = {English},
    number = {3},
    pages = {450--461},
    publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
    title = {Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles},
    url = {https://research.tudelft.nl/en/publications/adaptive-incremental-nonlinear-dynamic-inversion-for-attitude-con-2},
    volume = {39},
    year = {2016}
    }
  • [DOI] E. Smeur, G. {de Croon}, and Q. Chu, “Gust disturbance alleviation with incremental nonlinear dynamic inversion,” in Proceedings of the 2016 ieee/rsj international conference on intelligent robots and systems (iros), 2016.
    [Bibtex]
    @inproceedings{2781baceb00f4de2a52abd869a349145,
    author = {Ewoud Smeur and {de Croon}, Guido and Qiping Chu},
    booktitle = {Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    doi = {10.1109/IROS.2016.7759827},
    isbn = {978-1-5090-3763-6},
    keywords = {Acceleration, Rotors, Wind, Drones, Force, Atmospheric modeling},
    language = {English},
    note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
    title = {Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion},
    url = {https://research.tudelft.nl/en/publications/gust-disturbance-alleviation-with-incremental-nonlinear-dynamic-i},
    url2 = {http://www.iros2016.org/},
    year = {2016}
    }
  • [DOI] E. Smeur, Q. Chu, and G. {de Croon}, “Adaptive incremental nonlinear dynamic inversion for attitude control of micro aerial vehicles,” in Proceedings of the aiaa guidance, navigation, and control conference, United States, 2016, p. 1–16.
    [Bibtex]
    @inproceedings{ff1f13e377e64d0fbfdf0065cf333066,
    address = {United States},
    author = {EJJ Smeur and QP Chu and {de Croon}, GCHE},
    booktitle = {Proceedings of the AIAA guidance, navigation, and control conference},
    doi = {10.2514/6.2016-1390},
    editor = {s.n.},
    isbn = {978-1-62410-389-6},
    language = {English},
    note = {harvest AIAA 2016-1390; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
    pages = {1--16},
    publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
    title = {Adaptive incremental nonlinear dynamic inversion for attitude control of micro aerial vehicles},
    url = {https://research.tudelft.nl/en/publications/adaptive-incremental-nonlinear-dynamic-inversion-for-attitude-con},
    year = {2016}
    }

2017

  • {. van der} Sman, E. Smeur, B. Remes, {. D. Wagter, and Q. Chu, “Incremental nonlinear dynamic inversion and multihole pressure probes for disturbance rejection control of fixed-wing micro air vehicles,” in International micro air vehicle conference and flight competition 2017, 2017, p. 111–120.
    [Bibtex]
    @inproceedings{0c71106fcd75448bb4881e417d916647,
    author = {Sman, {Elisabeth van der} and Ewoud Smeur and Bart Remes and Wagter, {Christophe De} and Qiping Chu},
    booktitle = {International Micro Air Vehicle Conference and Flight Competition 2017},
    day = {18},
    editor = {{J.-M. Moschetta G. Hattenberger}, {H. de Plinval}},
    language = {Undefined/Unknown},
    month = {September},
    note = {null ; Conference date: 18-09-2017 Through 21-09-2017},
    pages = {111--120},
    title = {Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles},
    url = {https://research.tudelft.nl/en/publications/incremental-nonlinear-dynamic-inversion-and-multihole-pressure-pr},
    url2 = {http://www.imav2017.org/, http://www.imavs.org/2017/},
    year = {2017}
    }
  • E. Smeur, D. Höppener, and {. D. Wagter, “Prioritized control allocation for quadrotors subject to saturation,” in International micro air vehicle conference and flight competition 2017, 2017, p. 37–43.
    [Bibtex]
    @inproceedings{54c4659a3a6d4d44873daec6ae5e2376,
    author = {Ewoud Smeur and Daan H{\"o}ppener and Wagter, {Christophe De}},
    booktitle = {International Micro Air Vehicle Conference and Flight Competition 2017},
    day = {18},
    editor = {{J.-M. Moschetta G. Hattenberger}, {H. de Plinval}},
    language = {English},
    month = {September},
    note = {9th international micro air vehicles : Conference and flight competition, IMAV 2017 ; Conference date: 18-09-2017 Through 21-09-2017},
    pages = {37--43},
    title = {Prioritized Control Allocation for Quadrotors Subject to Saturation},
    url = {https://research.tudelft.nl/en/publications/prioritized-control-allocation-for-quadrotors-subject-to-saturati},
    url2 = {http://www.imav2017.org/, http://www.imavs.org/2017/},
    year = {2017}
    }
  • [DOI] C. {de Wagter} and E. Smeur, “Control of a hybrid helicopter with wings,” International journal of micro air vehicles, vol. 9, iss. 3, p. 209–217, 2017.
    [Bibtex]
    @article{13873e1a7f6d474e9b0d948434e1c7e7,
    author = {{de Wagter}, Christophe and Ewoud Smeur},
    day = {11},
    doi = {10.1177/1756829317702674},
    issn = {1756-8293},
    journal = {International Journal of Micro Air Vehicles},
    keywords = {Hybrid, Micro air vehicle, rotor head, control, swash plate, model},
    language = {English},
    month = {May},
    number = {3},
    pages = {209--217},
    publisher = {Multi-Science Publishing Co. Ltd},
    title = {Control of a hybrid helicopter with wings},
    url = {https://research.tudelft.nl/en/publications/control-of-a-hybrid-helicopter-with-wings-2},
    volume = {9},
    year = {2017}
    }
  • [DOI] M. Bronz, E. Smeur, H. {Garcia de Marina}, and G. Hattenberger, “Development of a fixed-wing mini uav with transitioning flight capability,” in 35th aiaa applied aerodynamics conference, United States, 2017.
    [Bibtex]
    @inproceedings{16a2adc21f7f482caaf89554de6af7f6,
    address = {United States},
    author = {Murat Bronz and Ewoud Smeur and {Garcia de Marina}, Hector and Gautier Hattenberger},
    booktitle = {35th AIAA Applied Aerodynamics Conference},
    doi = {10.2514/6.2017-3739},
    language = {English},
    note = {35th AIAA Applied Aerodynamics Conference ; Conference date: 05-06-2017 Through 09-06-2017},
    publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
    title = {Development of A Fixed-Wing mini UAV with Transitioning Flight Capability},
    url = {https://research.tudelft.nl/en/publications/development-of-a-fixed-wing-mini-uav-with-transitioning-flight-ca},
    url2 = {https://doi.org/10.2514/MAPA17},
    year = {2017}
    }

2018

  • [DOI] E. Smeur, “Incremental control of hybrid micro air vehicles,” PhD Thesis, 2018.
    [Bibtex]
    @phdthesis{23c338a18b3440a689e9997adbdafd75,
    author = {Ewoud Smeur},
    day = {5},
    doi = {10.4233/uuid:23c338a1-8b34-40a6-89e9-997adbdafd75},
    isbn = {978-94-6186-973-9},
    keywords = {Incremental Nonlinear Dynamic Inversion, Hybrid micro air vehicles, Tailsitter, Control allocation},
    language = {English},
    month = {November},
    school = {Delft University of Technology},
    title = {Incremental Control of Hybrid Micro Air Vehicles},
    url = {https://research.tudelft.nl/en/publications/incremental-control-of-hybrid-micro-air-vehicles},
    year = {2018}
    }
  • [DOI] {E. J. J. }. Smeur, {G. C. H. E. }. {de Croon}, and Q. Chu, “Cascaded incremental nonlinear dynamic inversion for mav disturbance rejection,” Control engineering practice, vol. 73, p. 79–90, 2018.
    [Bibtex]
    @article{3079ef6f907b4b55b21f4a3ad8b65401,
    author = {Smeur, {E. J.J.} and {de Croon}, {G. C.H.E.} and Q. Chu},
    day = {1},
    doi = {10.1016/j.conengprac.2018.01.003},
    issn = {0967-0661},
    journal = {Control Engineering Practice},
    keywords = {Disturbance rejection, Incremental control, Quadrocopter, Wind gusts, Windtunnel free flight},
    language = {English},
    month = {April},
    pages = {79--90},
    publisher = {Elsevier},
    title = {Cascaded incremental nonlinear dynamic inversion for MAV disturbance rejection},
    url = {https://research.tudelft.nl/en/publications/cascaded-incremental-nonlinear-dynamic-inversion-for-mav-disturba},
    volume = {73},
    year = {2018}
    }
  • [DOI] C. {de Wagter}, R. Ruijsink, E. Smeur, K. {van Hecke}, F. {van Tienen}, E. {van der Horst}, and B. Remes, “Design, control, and visual navigation of the delftacopter vtol tail-sitter uav,” Journal of field robotics, vol. 35, iss. 6, p. 937–960, 2018.
    [Bibtex]
    @article{4868ff50468d43978ee88e8029e99d3f,
    author = {{de Wagter}, Christophe and Rick Ruijsink and Ewoud Smeur and {van Hecke}, Kevin and {van Tienen}, Freek and {van der Horst}, Erik and Bart Remes},
    doi = {10.1002/rob.21789},
    issn = {1556-4967},
    journal = {Journal of Field Robotics},
    keywords = {aerial robotics, control, emergency response, perception, sensors},
    language = {English},
    number = {6},
    pages = {937--960},
    publisher = {Wiley},
    title = {Design, control, and visual navigation of the DelftaCopter VTOL tail-sitter UAV},
    url = {https://research.tudelft.nl/en/publications/design-control-and-visual-navigation-of-the-delftacopter-vtol-tai},
    volume = {35},
    year = {2018}
    }

2019

  • [DOI] {. G. D. Marina and E. Smeur, “Flexible collaborative transportation by a team of rotorcraft,” in 2019 international conference on robotics and automation, icra 2019, United States, 2019, p. 1074–1080.
    [Bibtex]
    @inproceedings{fe27bd93c73d44b3ab5ad3fa69074816,
    address = {United States},
    author = {Marina, {Hector Garcia De} and Ewoud Smeur},
    booktitle = {2019 International Conference on Robotics and Automation, ICRA 2019},
    day = {1},
    doi = {10.1109/ICRA.2019.8794316},
    language = {English},
    month = {May},
    note = {2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019},
    pages = {1074--1080},
    publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
    title = {Flexible collaborative transportation by a team of rotorcraft},
    url = {https://research.tudelft.nl/en/publications/flexible-collaborative-transportation-by-a-team-of-rotorcraft},
    volume = {2019-May},
    year = {2019}
    }

2020

  • [DOI] E. Smeur, M. Bronz, and G. {de Croon}, “Incremental control and guidance of hybrid aircraft applied to a tailsitter unmanned air vehicle,” Journal of guidance, control, and dynamics: devoted to the technology of dynamics and control, vol. 43, iss. 2, p. 274–287, 2020.
    [Bibtex]
    @article{28cd0fb3e4134c99a0b9b01f94dac72e,
    author = {Ewoud Smeur and Murat Bronz and {de Croon}, Guido},
    doi = {10.2514/1.G004520},
    issn = {0731-5090},
    journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
    language = {English},
    number = {2},
    pages = {274--287},
    publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
    title = {Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter Unmanned Air Vehicle},
    url = {https://research.tudelft.nl/en/publications/incremental-control-and-guidance-of-hybrid-aircraft-applied-to-a-},
    volume = {43},
    year = {2020}
    }

2021

  • [DOI] C. {De Wagter}, B. Remes, E. Smeur, F. {van Tienen}, R. Ruijsink, K. {van Hecke}, and E. {van der Horst}, “The nederdrone: a hybrid lift, hybrid energy hydrogen uav,” International journal of hydrogen energy, vol. 46, iss. 29, p. 16003–16018, 2021.
    [Bibtex]
    @article{0bbd9df59c4842f2b3a6284876642d15,
    author = {{De Wagter}, C. and B. Remes and E. Smeur and {van Tienen}, F. and R. Ruijsink and {van Hecke}, K. and {van der Horst}, E.},
    doi = {10.1016/j.ijhydene.2021.02.053},
    issn = {0360-3199},
    journal = {International Journal of Hydrogen Energy},
    keywords = {Hybrid unmanned air vehicle, Hydrogen, Maritime unmanned air vehicles, Polymer electrolyte membrane fuel-cell, Pressure cylinder, Tail-sitter},
    language = {English},
    number = {29},
    pages = {16003--16018},
    publisher = {Elsevier},
    title = {The NederDrone: A hybrid lift, hybrid energy hydrogen UAV},
    url = {https://research.tudelft.nl/en/publications/the-nederdrone-a-hybrid-lift-hybrid-energy-hydrogen-uav},
    volume = {46},
    year = {2021}
    }

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