- document
-
Altartouri, H. (author), Roshanbin, A. (author), Andreolli, G. (author), Fazzi, L. (author), Karasek, M. (author), Lalami, M. (author), Preumont, A. (author)Hovering flapping wing flight is intrinsically unstable in most cases and requires active flight stabilization mechanisms. This paper explores the passive stability enhancement with the addition of top and bottom sails, and the capability to predict the stability from a very simple model decoupling the roll and pitch axes. The various...journal article 2019
- document
-
van der Helm, Steven (author), Coppola, M. (author), McGuire, K.N. (author), de Croon, G.C.H.E. (author)We present a range-based solution for indoor relative localization by micro air vehicles (MAVs), achieving sufficient accuracy for leader–follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We...journal article 2019
- document
-
Kajak, K. M. (author), Karasek, M. (author), Chu, Q. P. (author), de Croon, G.C.H.E. (author)Recently, several insect- and hummingbird-inspired tailless flapping wing robots have been introduced. However, their flight dynamics, which are likely to be similar to that of their biological counterparts, remain yet to be fully understood. We propose a minimal dynamic model that is not only validated with experimental data, but also able...journal article 2019
- document
-
Smeur, E.J.J. (author)Micro Air Vehicles (MAVs) can perform many useful tasks, such as mapping and delivery. For these tasks either rotorcraft are used, which can hover but are not very efficient, or fixed wing vehicles, which are efficient but can not hover. Hybrid MAVs combine the hovering of a rotorcraft with the efficiency of a fixed wing. The reason that these...doctoral thesis 2018
- document
-
Del Estal Herrero, A. (author), Perçin, M. (author), Karasek, M. (author), van Oudheusden, B.W. (author)Flow visualizations have been performed on a free flying, flapping-wing micro air vehicle (MAV), using a large-scale particle image velocimetry (PIV) approach. The PIV method involves the use of helium-filled soap bubbles (HFSB) as tracer particles. HFSB scatter light with much higher intensity than regular seeding particles, comparable to that...journal article 2018
- document
-
Tijmons, S. (author), de Wagter, C. (author), Remes, B.D.W. (author), de Croon, G.C.H.E. (author)Autonomous flight of Flapping Wing Micro Air Vehicles (FWMAVs) is a major challenge in the field of robotics, due to their light weight and their flapping-induced body motions. An FWMAV is presented weighing a mere 20 g while all its sensors and processing for autonomous flight are onboard. The navigation is based on a 4-g stereo vision camera...journal article 2018
- document
-
Coppola, M. (author), McGuire, K.N. (author), Scheper, K.Y.W. (author), de Croon, G.C.H.E. (author)To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height,...journal article 2018
- document
-
Alonso Mora, J. (author), Montijano, Eduardo (author), Nägeli, Tobias (author), Hilliges, Otmar (author), Schwager, Mac (author), Rus, Daniela (author)This paper presents a distributed method for formation control of a homogeneous team of aerial or ground mobile robots navigating in environments with static and dynamic obstacles. Each robot in the team has a finite communication and visibility radius and shares information with its neighbors to coordinate. Our approach leverages both...journal article 2018
- document
-
Tijmons, S. (author)Many types of drones have emerged over the last decade and new applications in various sectors are announced almost on a daily basis. In scientific literature, small drones are called Micro Air Vehicles (MAVs). Especially very small MAVs will play a significant role in indoor applications, since their small size allows them to navigate in narrow...doctoral thesis 2017
- document
- Ho, H.W. (author) doctoral thesis 2017
- document
-
Scheper, K.Y.W. (author), de Croon, G.C.H.E. (author)One of the major challenges of evolutionary robotics is to transfer robot controllers evolved in simulation to robots in the real world. In this article, we investigate abstraction of the sensory inputs and motor actions as a tool to tackle this problem. Abstraction in robots is simply the use of preprocessed sensory inputs and low-level closed...journal article 2017
- document
-
de Wagter, C. (author), Smeur, E.J.J. (author)This work investigates the design parameters and their consequences in the control of a helicopter rotor combined with a pair of fixed wings. This hybrid vehicle has a light and aerodynamically efficient rotor with a large range of pitch angles to enable both hover and forward flight. Because of the light stiff rotor and heavy wings, the hybrid...journal article 2017
- document
-
Alonso Mora, J. (author), Baker, Stuart (author), Rus, Daniela (author)We present a constrained optimization method for multi-robot formation control in dynamic environments, where the robots adjust the parameters of the formation, such as size and three-dimensional orientation, to avoid collisions with static and moving obstacles, and to make progress towards their goal. We describe two variants of the...journal article 2017
- document
-
Coppola, M. (author)A current limitation of using Micro Air Vehicles in teams is the high risk of collisions between members. Knowledge of relative location is needed in order to perform evasive maneuvers from such collisions. We propose an on-board Bluetooth-based relative localization scheme. Bluetooth is a light-weight and energy efficient communication...master thesis 2016
- document
-
Peters, H.J. (author)This thesis studies a controllability approach for general resonant compliant systems. These systems exploit resonance to obtain a specific dynamic response at relatively low actuation power. This type of systems is often lightweight, is scalable and minimizes frictional losses through the use of compliant hinges. Some insect-inspired Flapping...doctoral thesis 2016
- document
-
Deng, S. (author)The interest in Micro Air Vehicles (MAVs) has stimulated continuous research activities, in view of their potential in civilian and military applications. An autonomous MAV with dedicated onboard sensors would be capable of executing mission in closed environments, such as surveillance, in door inspection in support of rescue operations and...doctoral thesis 2016
- document
-
de Croon, G.C.H.E. (author)The visual cue of optical flow plays an important role in the navigation of flying insects, and is increasingly studied for use by small flying robots as well. A major problem is that successful optical flow control seems to require distance estimates, while optical flow is known to provide only the ratio of velocity to distance. In this article...journal article 2016
- document
-
Peters, H.J. (author), Goosen, J.F.L. (author), van Keulen, A. (author)Lightweight vibrating structures (such as flapping wing micro air vehicle (FWMAV) designs) often require some form of control. To achieve controllability, local structural property changes (e.g., damping and stiffness changes) might be induced in an active manner. The stroke-averaged lift force production of a FWMAV wing can be modified by...journal article 2016
- document
-
Xiao, Tianhang (author), Li, Zhengzhou (author), Deng, S. (author), Ang, Haisong (author), Zhou, Xinchun (author)The aerodynamic characteristics around a micro air vehicle wing with an inverse-Zimmerman configuration are numerically investigated by an in-house programmed solver particularly dedicated for aircrafts operating in low Reynolds number regime. The complex three-dimensional aerodynamic performance was investigated in terms of force generation...journal article 2016
- document
-
Percin, M. (author)The growing need for mobile aerial platforms capable of performing reconnaissance tasks and gathering intelligence in hazardous and physically inaccessible areas has given rise to an increasing interest in the development of micro aerial vehicles (MAVs), in view of their potential capabilities of versatile and highly maneuverable flight....doctoral thesis 2015