- document
-
Xu, Y. (author)Micro air vehicles (MAVs) have shown significant potential in modern society. The development in robotics and automation is changing the roles of MAVs from remotely controlled machines requiring human pilots to autonomous and intelligent robots. There is an increasing number of autonomous MAVs involved in outdoor operations. In contrast, the...doctoral thesis 2023
- document
-
Moens, Tieme (author)Flying drones have been a well-established field of engineering for many years now. With the wave of bio-inspired design came the idea of flapping wing micro air vehicles (FWMAVs). These drones use flapping wings instead of fixed or rotary wings to generate their lift, giving them the potential for agile movement and application in confined...master thesis 2023
- document
-
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
- document
-
de Wagter, C. (author)Highly automated Unmanned Aerial Vehicles (UAVs) or "flying robots" are rapidly becoming an important asset to society. The last decade has seen the advent of an impressive number of new UAV types and applications. For many applications, the UAVs need to be safe, highly automated, and versatile. Safety is a prerequisite to allowing their use in...doctoral thesis 2022
- document
-
Tran, Tommy (author)Semantic segmentation methods have been developed and applied to single images for object segmentation. However, for robotic applications such as high-speed agile Micro Air Vehicles (MAVs) in Autonomous Drone Racing (ADR), it is more interesting to consider temporal information as video sequences are correlated over time. In this work, we...master thesis 2022
- document
-
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
- document
-
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
- document
-
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
- document
-
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
- document
-
Gonzalez Alvarez, Marina (author)Micro robotic airships offer significant advantages in terms of safety, mobility, and extended flight times. However, their highly restrictive weight constraints pose a major challenge regarding the available computational power to perform the required control tasks. Thus, spiking neural networks (SNNs) are a promising research direction. By...master thesis 2021
- document
-
Vroon, Erik (author)Drones need to be able to detect and localize each other if they are to collaborate in multi-robot teams or swarms. Typically, computer vision methods based on visual appearance are investigated to this end. In contrast, in this work, a method based on dense optical flow (OF) is developed that detects dynamic objects. This is achieved by...master thesis 2021
- document
-
Coppola, M. (author)The paradigm of swarm robotics aims to enable several independent robots to collaborate together toward collective goals. The distributed nature of a swarm, whereby each robot acts independently in accordance with its perceived environment, is expected to provide the system with a high degree of flexibility, robustness, and scalability. However,...doctoral thesis 2021
- document
-
Chotalal, Rohan (author)For most robotics applications, optimal control remains a promising solution for solving complex control tasks. One example is the time-optimal flight of Micro Air Vehicles (MAVs), where strict computational requirements fail to resolve such algorithms onboard. Recent work on the use of deep neural networks for guidance and control (G&CNets)...master thesis 2021
- document
-
Dinaux, Raoul (author)Micro Air Vehicles (MAVs) are able to support humans in dangerous operations, such as search and rescue operations at night on unknown terrain. These scenes require a great amount of autonomy from the MAV, as they are often radio and GPS-denied. As MAVs have limited computational resources and energy storage, onboard navigation tasks have to be...master thesis 2021
- document
-
Westenberger, Jelle (author)Time-optimal model-predictive control is essential in achieving fast and adaptive quadcopter flight. Due to the limited computational performance of onboard hardware, aggressive flight approaches have relied on off-line trajectory optimization processes or non time-optimal methods. In this work we propose a computational efficient model...master thesis 2021
- document
-
Kelbling, Jelle (author)The DelFly Nimble is a type of tailless flapping-wing micro air vehicles (FWMAVs) that has received an increasing amount of attention. FWMAVs show efficient and agile flight possibilities at small scale. The aerodynamics and dynamics of these flapping vehicles are challenging and not fully understood. In this work, a strategy to implement a 3D...master thesis 2020
- document
-
van Dijk, Tom (author)With a growing number of drones, the risk of collision with other air traffic or fixed obstacles increases. New safety measures are required to keep the operation of Unmanned Aerial Vehicles (UAVs) safe. One of these measures is the use of a Collision Avoidance System (CAS), a system that helps the drone autonomously detect and avoid obstacles....report 2020
- document
-
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
- document
-
Hagenaars, Jesse (author)Flying insects are capable of autonomous vision-based navigation in cluttered environments, reliably avoiding objects through fast and agile manoeuvres. Meanwhile, insect-scale micro air vehicles still lag far behind their biological counterparts, displaying inferior performance at a fraction of the energy efficiency. In light of this, it is in...master thesis 2020
- document
-
Heitzig, D. N.W.M. (author), van Oudheusden, B.W. (author), Olejnik, D.A. (author), Karasek, M. (author)This study investigates the wing deformation of the DelFly II in forward flight conditions. A measurement setup was developed that maintains adequate viewing axes of the flapping wings for all pitch angles. Recordings of a high-speed camera pair were processed using a point tracking algorithm, allowing 136 points per wing to be measured...journal article 2020