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Neuman, Sabrina M. (author), Plancher, Brian (author), Duisterhof, Bardienus P. (author), Krishnan, Srivatsan (author), Banbury, Colby (author), Mazumder, Mark (author), Prakash, Shvetank (author), Jabbour, Jason (author), Faust, Aleksandra (author), de Croon, G.C.H.E. (author), Reddi, Vijay Janapa (author)Machine learning (ML) has become a pervasive tool across computing systems. An emerging application that stress-tests the challenges of ML system design is tiny robot learning, the deployment of ML on resource-constrained low-cost autonomous robots. Tiny robot learning lies at the intersection of embedded systems, robotics, and ML, compounding...conference paper 2022
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Verheyen, Jan K.N. (author), Dupeyroux, J.J.G. (author), de Croon, G.C.H.E. (author)Insects have—over millions of years of evolution—perfected many of the systems that roboticists aim to achieve; they can swiftly and robustly navigate through different environments under various conditions while at the same time being highly energy efficient. To reach this level of performance and efficiency, one might want to look at and...conference paper 2022
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Westenberger, J.M. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Time-optimal model predictive control is important for achieving fast racing drones but is computationally intensive and thereby rarely used onboard small quadcopters with limited computational resources. In this work, we simplify the optimal control problem (OCP) of the position loop for several maneuvers by exploiting the fact that the...conference paper 2021
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Li, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Wireless ranging measurements have been proposed for enabling multiple Micro Air Vehicles (MAVs) to localize with respect to each other. However, the high-dimensional relative states are weakly observable due to the scalar distance measurement. Hence, the MAVs have degraded relative localization and control performance under unobservable...conference paper 2021
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Gonzalez Archundia, G. (author), de Croon, G.C.H.E. (author), Olejnik, D.A. (author), Karasek, M. (author)This paper proposes an integral approach for accurate ultra wide band indoor position control of flapping wing micro air vehicles. Three aspects are considered to reach a reliable and accurate position controller. The first aspect is a velocity/attitude flapping-wing model for drag compensation. The model is compared with real flight data and...conference paper 2021
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Vroon, E.D. (author), Rojer, Jim (author), de Croon, G.C.H.E. (author)Drones need to detect and localize each other if they are to collaborate in multi-robot teams or swarms. In this paper, a method based on dense optical flow (OF) is developed that detects dynamic objects. This is achieved by comparing the flow vectors with the direction to the Focus of Expansion (FoE) in the image plane. A simulation in AirSim...conference paper 2021
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Parlevliet, Patricia P. (author), Kanaev, Andrey (author), Hung, Chou P. (author), Schweiger, Andreas (author), Gregory, Frederick D. (author), Benosman, Ryad (author), de Croon, G.C.H.E. (author), Gutfreund, Yoram (author), Lo, Chung Chuan (author), Moss, Cynthia F. (author)Autonomous flight for large aircraft appears to be within our reach. However, launching autonomous systems for everyday missions still requires an immense interdisciplinary research effort supported by pointed policies and funding. We believe that concerted endeavors in the fields of neuroscience, mathematics, sensor physics, robotics, and...journal article 2021
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Wijnker, D.C. (author), van Dijk, Tom (author), Snellen, M. (author), de Croon, G.C.H.E. (author), de Wagter, C. (author)To investigate how an unmanned air vehicle can detect manned aircraft with a single microphone, an audio data set is created in which unmanned air vehicle ego-sound and recorded aircraft sound are mixed together. A convolutional neural network is used to perform air traffic detection. Due to restrictions on flying unmanned air vehicles close to...journal article 2021
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Goyal, P. (author), Cribellier, Antoine (author), de Croon, G.C.H.E. (author), Lankheet, Martin J. (author), van Leeuwen, Johan L. (author), Pieters, Remco P.M. (author), Muijres, Florian T. (author)When approaching a landing surface, many flying animals use visual feedback to control their landing. Here, we studied how foraging bumblebees (Bombus terrestris) use radial optic expansion cues to control in-flight decelerations during landing. By analyzing the flight dynamics of 4,672 landing maneuvers, we showed that landing bumblebees...journal article 2021
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Bahnam, Stavrow (author), Pfeiffer, S.U. (author), de Croon, G.C.H.E. (author)Current existing stereo visual odometry algorithms are computationally too expensive for robots with restricted resources. Executing these algorithms on such robots leads to a low frame rate and unacceptable decay in accuracy. We modify S-MSCKF, one of the most computationally efficient stereo Visual Inertial Odometry (VIO) algorithm, to improve...conference paper 2021
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Pfeiffer, S.U. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)We present a computationally efficient moving horizon estimator that allows for real-time localization using Ultra-Wideband measurements on small quadrotors. The estimator uses only a single iteration of a simple gradient descent method to optimize the state estimate based on past measurements, while using random sample consensus to reject...journal article 2021
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Hagenaars, J.J. (author), Paredes-Vallés, Federico (author), Bohté, Sander M. (author), de Croon, G.C.H.E. (author)Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air vehicles still lag far behind their biological counterparts, displaying inferior performance at a much...journal article 2020
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- de Croon, G.C.H.E. (author) journal article 2020
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Coppola, M. (author), McGuire, K.N. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)This work presents a review and discussion of the challenges that must be solved in order to successfully develop swarms of Micro Air Vehicles (MAVs) for real world operations. From the discussion, we extract constraints and links that relate the local level MAV capabilities to the global operations of the swarm. These should be taken into...review 2020
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Scheper, K.Y.W. (author), de Croon, G.C.H.E. (author)Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with this approach is that when this optimization occurs in a simulated environment, the optimized policies are...journal article 2020
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Potdar, N.D. (author), de Croon, G.C.H.E. (author), Alonso-Mora, J. (author)Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free...journal article 2020
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Visual model-predictive localization for computationally efficient autonomous racing of a 72-g droneLi, S. (author), van der Horst, E. (author), Duernay, Philipp (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Drone racing is becoming a popular e-sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a novel sensor fusion method called visual model-predictive localization (VML). Within a small time window, VML approximates...journal article 2020
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Li, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Autonomous robots heavily rely on well-tuned state estimation filters for successful control. This letter presents a novel automatic tuning strategy for learning filter parameters by minimizing the innovation, i.e., the discrepancy between expected and received signals from all sensors. The optimization process only requires the inputs and...journal article 2019
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van Dijk, Tom (author), de Croon, G.C.H.E. (author)Deep neural networks have lead to a breakthrough in depth estimation from single images. Recent work shows that the quality of these estimations is rapidly increasing. It is clear that neural networks can see depth in single images. However, to the best of our knowledge, no work currently exists that analyzes what these networks have learned. In...conference paper 2019
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Armanini, S.F. (author), Caetano, J. V. (author), de Visser, C.C. (author), Pavel, M.D. (author), de Croon, G.C.H.E. (author), Mulder, Max (author)Despite significant interest in tailless flapping-wing micro aerial vehicle designs, tailed configurations are often favoured, as they offer many benefits, such as static stability and a simpler control strategy, separating wing and tail control. However, the tail aerodynamics are highly complex due to the interaction between the unsteady...journal article 2019