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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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Li, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environments. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny flying robots. This approach does not require any groundtruth data from external systems or manual labeling....conference paper 2022
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Olejnik, D.A. (author), Wang, S. (author), Dupeyroux, J.J.G. (author), Stroobants, S. (author), Karasek, M. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)This paper discusses a low-cost, open-source and open-hardware design and performance evaluation of a low-speed, multi-fan wind system dedicated to micro air vehicle (MAV) testing. In addition, a set of experiments with a flapping wing MAV and rotorcraft is presented, demonstrating the capabilities of the system and the properties of these...conference paper 2022
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Wijnker, Dirk (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 (UAV) can detect manned aircraft with a single microphone, an audio data set is created in which UAV ego-sound and recorded aircraft sound are mixed together. A convolutional neural network is used to perform the air traffic detection. Due to restrictions on flying UAVs close to aircraft, the data set...conference paper 2019
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Bahnam, S.A. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)ROVIO is one of the state-of-the-art mono visual inertial odometry algorithms. It uses an Iterative Extended Kalman Filter (IEKF) to align features and update the vehicle state simultaneously by including the feature locations in the state vector of the IEKF. This algorithm is single core intensive, which allows using the other cores for other...conference paper 2022
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- de Croon, G.C.H.E. (author), de Wagter, C. (author) conference paper 2022
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de Wagter, C. (author), Karasek, M. (author), de Croon, G.C.H.E. (author)We present a novel design of a tailless flapping wing Micro Air Vehicle (MAV), which uses four independently driven pairs of flapping wings in order to fly and perform agile maneuvers. The wing pairs are arranged such that differential thrust generates the desired roll and pitch moments, similar to a quadrotor. Moreover, two pairs of wings are...conference paper 2017
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Braber, T.I. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author), Babuska, R. (author)This article presents an adaptive control strategy to stabilize a micro quadrotor in all three axes using only an Inertial Measurement Unit (IMU) for the attitude control and a monocular camera for canceling position drift. The proposed control scheme automatically determines the appropriate optical flow control gains. This is achieved by...conference paper 2018
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Meester, R.S. (author), van Dijk, Tom (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Obstacle avoidance is an important capability for flying robots. But for robots with limited resources, such as small drones this becomes particularly challenging. Bug algorithms have been proposed to solve path planning with only minimal resources. And stereo vision provides a rich description of the world for limited weight but typically has a...conference paper 2023
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Pfeiffer, S.U. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Moving Horizon Estimation (MHE) offers multiple advantages over Kalman Filters when it comes to the localization of drones. However, due to the high computational cost, they can not be used on Micro Air Vehicles (MAVs) with limited computational power. We have previously shown, that with a few assumptions and simplifications, MHE can be made...conference paper 2023
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Stroobants, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Neuromorphic processing promises high energy efficiency and rapid response rates, making it an ideal candidate for achieving autonomous flight of resource-constrained robots. It can be especially beneficial for complex neural networks as are used for high-level visual perception. However, fully neuromorphic solutions also need to tackle low...conference paper 2023
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Yu, H.Y. (author), de Croon, G.C.H.E. (author), de Wagter, C. (author)Obstacle avoidance is an essential topic in the field of autonomous drone research. When choosing an avoidance algorithm, many different options are available, each with their advantages and disadvantages. As there is currently no consensus on testing methods, it is quite challenging to compare the performance between algorithms. In this...conference paper 2023
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McGuire, K.N. (author), de Croon, G.C.H.E. (author), de Wagter, C. (author), Remes, B.D.W. (author), Tuyls, K. (author), Kappen, H. (author)Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while their small weight provides significant safety advantages. This paper presents a computationally efficient...conference paper 2016
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Lamers, K. (author), Tijmons, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Obstacle detection by monocular vision is challenging because a single camera does not provide a direct measure for absolute distances to objects. A self-supervised learning approach is proposed that combines a camera and a very small short-range proximity sensor to find the relation between the appearance of objects in camera images and their...conference paper 2016
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McGuire, K.N. (author), Coppola, M. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Pocket-drones are inherently safe for flight near humans, and their small size allows maneuvering through narrow indoor environments. However, achieving autonomous flight of pocket-drones is challenging because of strict on-board hardware limitations. Further challenges arise when multiple pocket-drones operate as a team and need to coordinate...conference paper 2017
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Scheper, K.Y.W. (author), Karasek, M. (author), de Wagter, C. (author), Remes, B.D.W. (author), de Croon, G.C.H.E. (author)One of the emerging tasks for Micro Air Vehicles (MAVs) is autonomous indoor navigation. While commonly employed platforms for such tasks are micro-quadrotors, insectinspired flapping wing MAVs can offer many advantages, such<br/>as being inherently safe due to their low inertia, reciprocating wings bouncing of objects or potentially lower noise...conference paper 2018
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Olejnik, D.A. (author), Muijres, Florian T. (author), Karasek, M. (author), Honfi Camilo, Leonardo (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Natural fliers utilize passive and active flight control strategies to cope with windy conditions. This capability makes them incredibly agile and resistant to wind gusts. Here, we study how insects achieve this, by combining Computational Fluid Dynamics (CFD) analyses of flying fruit flies with freely-flying robotic experiments. The CFD...journal article 2022
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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...journal article 2022
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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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