Searched for: subject%3A%22MAVs%22
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de Vries, Rinto (author)
Recent literature in real-time trajectory planning has proposed using Control Barrier Functions (CBFs) as collision constraints in Model Predictive Control (MPC) for efficient guidance, a concept referred to as MPC-CBF. This concept has been explored for both first and second-order CBFs. However, these approaches relied on an analytical...
master thesis 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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Mancinelli, A. (author), Remes, B.D.W. (author), de Croon, G.C.H.E. (author), Smeur, E.J.J. (author)
Hybrid Unmanned Aerial Vehicles UAV are vehicles capable of take-off and landing vertically like helicopters while maintaining the long-range efficiency of fixed-wing aircraft. Unfortunately, due to their wing area, these vehicles are sensitive to wind gusts when hovering. One way to increase the hovering wind-rejection capabilities of hybrid...
journal article 2023
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Barbera, Matteo (author)
Flying-wings show great potential for a vast number of applications, in both commercial and military sectors, thanks to their long range and fast forward flight, but suffer due to their lack of vertical take-off and landing capabilities. This paper presents a proof of concept for a novel landing method for a conventional flying wing that does...
master thesis 2022
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Lovell-Prescod, Gervase (author)
By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is...
master thesis 2022
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Bouwmeester, Rik (author)
Nano quadcopters are small, agile, and cheap platforms well suited for deployment in narrow, cluttered environments. Due to their limited payload, nano quadcopters are highly constrained in processing power, rendering conventional vision-based methods for autonomous navigation incompatible. Recent machine learning developments promise high...
master thesis 2022
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Wang, Chenyao (author)
Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. However, their in-gust flight performance and stability is still inferior to their biological counterparts. To this end, a simplified in-gust dynamic model, which could capture the main gust effects on FWMAVs, has been identified with real in...
master thesis 2022
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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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van Wijngaarden, D.C. (author), Remes, B.D.W. (author)
A type of UAV sharing the advantages of rotorcraft and fixed wing vehicles is the hybrid vehicle. Hybrid UAVs can take-off and land vertically and fly fast and efficient in forward flight due to the presence of a wing generating lift. However, combining the fixed wing and rotorcraft concept ends up in a multi-rotor with large dimensions when...
conference paper 2022
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Schröter, S. (author), Smeur, E.J.J. (author), Remes, B.D.W. (author)
Unmanned Aerial Vehicles (UAVs) have the potential to perform many different missions, some of which may require a large aircraft for endurance and a small aircraft for manoeuvrability in a building. This paper proposes a novel combination of a quadrotor and a hybrid biplane capable of joint hover, joint forward flight, and mid-air disassembly...
conference paper 2022
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Dupeyroux, J.J.G. (author), Dinaux, Raoul (author), Wessendorp, Nikhil (author), de Croon, G.C.H.E. (author)
In this paper, we introduce the Obstacle Detection and Avoidance (ODA) Dataset for Drones, aiming at providing raw data obtained in a real indoor environment with sensors adapted for aerial robotics in the context of obstacle detection and avoidance. Our micro air vehicle (MAV) is equipped with the following sensors: (i) an event-based camera...
conference paper 2022
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Wang, C. (author), Wang, S. (author), de Croon, G.C.H.E. (author), Hamaza, S. (author)
Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. These bio-inspired and lightweight flying robots still present limitations in their ability to fly in direct wind and gusts, as their stability is severely compromised in contrast with their biological counterparts. To this end, this work aims at...
journal article 2022
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Stroobants, S. (author), Dupeyroux, J.J.G. (author), de Croon, G.C.H.E. (author)
The great promises of neuromorphic sensing and processing for robotics have led researchers and engineers to investigate novel models for robust and reliable control of autonomous robots (navigation, obstacle detection and avoidance, etc.), especially for quadrotors in challenging contexts such as drone racing and aggressive maneuvers. Using...
conference paper 2022
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Mancinelli, A. (author), Smeur, E.J.J. (author), Remes, B.D.W. (author), de Croon, G.C.H.E. (author)
In the last few decades, the UAV research has been focusing on hybrid vehicles with Vertical Takeoff and Landing (VTOL) capabilities. Opposed to copters, hybrid vehicles are highly influenced by wind disturbances. This paper presents a novel quad-plane design that uses four dual-axis tilting rotors to enhance the wind rejection capability of...
conference paper 2022
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Stroobants, S. (author), Dupeyroux, J.J.G. (author), de Croon, G.C.H.E. (author)
Compelling evidence has been given for the high energy efficiency and update rates of neuromorphic processors, with performance beyond what standard Von Neumann architectures can achieve. Such promising features could be advantageous in critical embedded systems, especially in robotics. To date, the constraints inherent in robots (e.g., size...
journal article 2022
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Goudswaard, Reinier (author)
The growing demand for efficient propulsion systems that operate primarily in hover, has led the ducted rotor configuration to emerge as an increasingly popular design solution. One of the major design parameters for the ducted-rotor assembly is the radial distance between the blade tip and the circumferential wall of the duct, referred to as...
master thesis 2021
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van Beurden, Bas (author)
Abstract—Ultra-wideband (UWB) ranging is a very suitable method for indoor localisation of unmanned aerial vehicles (UAVs). Current solutions of UWB ranging however either focus on achieving a high accuracy or focus on scalability. In this research a positioning algorithm for UAVs is presented that combines high accuracy performance with a high...
master thesis 2021
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Wang, Sunyi (author)
Flow sensing exists widely in nature to help animals perform certain tasks. It has also been widely adopted in engineering applications with different types of sensing instrumentation. In particular, in the field of aerospace engineering, airflow sensing is crucial to vehicle state evaluation and flight control. This project surveys the key...
master thesis 2021
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van Wijngaarden, D.C. (author), Smeur, E.J.J. (author), Remes, B.D.W. (author)
Rotorcraft, fixed wing and hybrid Unmanned Air Vehicles (UAV) each have applications in which they excel. Traditionally, dedicated autopilot control code is written to accommodate flight of each UAV type. This causes fragmentation of control code and may lead to performance differences or errors. In this paper, we propose to use the same INDI...
conference paper 2021
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