From 7ff9bc4c1d48c83437731a3597c633b537271ea7 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 1 Jul 2024 15:12:41 +0200 Subject: [PATCH] Monthly Paper Update import-2024-07-01-08-34 (#81) * Imported arXiv * Imported repository * Imported PURE * Filtered MAVLab papers from PURE * Updated list of papers for website * Updated list of papers: import-2024-07-01-08-34 --------- Co-authored-by: github-actions[bot] --- arxiv.bib | 19 ++- mavlab_summary.csv | 2 +- msc.bib | 146 +++++++++++++++++++----- pure.bib | 68 +++++++++++ pure/cs.bib | 179 ++++++++++++++++++++++++++++- userbibs/user_croon.bib | 69 ++++++++--- userbibs/user_hamaza.bib | 18 +++ userbibs/user_remes.bib | 12 ++ userbibs/user_smeur.bib | 12 ++ userbibs/user_wagter.bib | 69 ++++++++--- website/all.bib | 241 +++++++++++++++++++++++++++++++-------- 11 files changed, 710 insertions(+), 125 deletions(-) diff --git a/arxiv.bib b/arxiv.bib index f60a9c8..717c6ba 100644 --- a/arxiv.bib +++ b/arxiv.bib @@ -90,6 +90,7 @@ # - 1603.07644 # - 1509.01423 # Import from: https://arxiv.org/search/?searchtype=author&size=200&query=ewoud+smeur +# - 2406.11723 # - 2311.09185 # - 2201.09805 # - 2011.03991 @@ -262,11 +263,12 @@ @misc{2305.13891 # 2305.13078: https://arxiv2bibtex.org/?format=bibtex&q=2305.13078 -@misc{2305.13078, +@article{2305.13078, author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and Christophe De Wagter and Guido C. H. E. de Croon}, title = {Optimality Principles in Spacecraft Neural Guidance and Control}, year = {2023}, eprint = {arXiv:2305.13078}, + doi = {10.1126/scirobotics.adi6421}, url = {https://arxiv.org/abs/2305.13078}, pdf = {https://arxiv.org/pdf/2305.13078.pdf}, } @@ -286,11 +288,12 @@ @misc{2305.02705 # 2304.13460: https://arxiv2bibtex.org/?format=bibtex&q=2304.13460 -@misc{2304.13460, +@article{2304.13460, author = {Robin Ferede and Guido C. H. E. de Croon and Christophe De Wagter and Dario Izzo}, title = {End-to-end Neural Network Based Quadcopter control}, year = {2023}, eprint = {arXiv:2304.13460}, + doi = {10.1016/j.robot.2023.104588}, url = {https://arxiv.org/abs/2304.13460}, pdf = {https://arxiv.org/pdf/2304.13460.pdf}, } @@ -998,6 +1001,18 @@ @article{1701.00860 } +# 2406.11723: https://arxiv2bibtex.org/?format=bibtex&q=2406.11723 + +@misc{2406.11723, + author = {Till M. Blaha and Ewoud J. J. Smeur and Bart D. W. Remes}, + title = {Control of Unknown Quadrotors from a Single Throw}, + year = {2024}, + eprint = {arXiv:2406.11723}, + url = {https://arxiv.org/abs/2406.11723}, + pdf = {https://arxiv.org/pdf/2406.11723.pdf}, +} + + # 2201.09805: https://arxiv2bibtex.org/?format=bibtex&q=2201.09805 @article{2201.09805, diff --git a/mavlab_summary.csv b/mavlab_summary.csv index c6ebb61..53e6690 100644 --- a/mavlab_summary.csv +++ b/mavlab_summary.csv @@ -20,5 +20,5 @@ year;article;inproceedings;phdthesis;conference;book;misc 2021;13;16;2;0;0;1; 2022;17;17;1;0;1;0; 2023;14;19;0;1;1;1; -2024;3;1;0;0;0;0; +2024;7;1;0;0;0;0; 2025;0;0;0;0;0;0; diff --git a/msc.bib b/msc.bib index 996d017..3dc6163 100644 --- a/msc.bib +++ b/msc.bib @@ -2,6 +2,42 @@ # Import from: https://repository.tudelft.nl/islandora/search/wagter%20OR%20croon%20OR%20remes%20OR%20karasek%20OR%20smeur%20OR%20dupeyroux%20OR%20hamaza%20OR%20"Scheper, K.Y.W."%20OR%20"popovic, marija"?collection=education&display=tud_csv +@mastersthesis{uuid:7e9dd0aa-4d24-4100-a224-14e71f86cdda, + abstract = {}, + author = {Gervas Montoya, Gabriel }, + keywords = {}, + note = {Smeur, E.J.J. (mentor); Varriale, Carmine (graduation committee); Georgopoulos, P. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; Grochowski, Bartłomiej }, + title = {IUVO: An Emergency Response Flyer}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:7e9dd0aa-4d24-4100-a224-14e71f86cdda}, + year = {2024} +} + +@mastersthesis{uuid:8649d62f-6266-44a4-89de-5b5805d83ae5, + abstract = {This paper presents an encoder-decoder-style convolutional neural network (CNN) for the purpose of improving monocular and stereo depth estimation (SDE) estimates, by combining them with the corresponding monocular estimates through a fusion network, assisted by prior information to provide context for the fusion. Video cameras are commonly used for depth perception in robotics, especially weight-sensitive applications, such as on Micro Aerial Vehicles (MAV). The two primary paradigms for vision-based depth perception are monocular and stereo depth or disparity estimation, each having their own strengths and weaknesses. These strengths and weaknesses seem to be complementary, and thus a fusion of the two may result in more accurate predictions. In this paper, we investigate this fusion by training a CNN that combines stereo and monocular depth or disparity estimates. The fusion network is agnostic to the choice of the input networks, providing great flexibility. It was found that such a fusion network, while increasing the computational complexity of the depth perception pipeline, indeed improves the accuracy of the estimates. The number of outlier predictions has been significantly decreased, while also limiting some fundamental limitations of both stereo and monocular methods, such as errors arising from occluded regions.}, + author = {Tóth, Dani }, + keywords = {Computer Vision; Deep Learning; CNN; Depth Estimation}, + note = {de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Eleftheroglou, N. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering}, + title = {Deep Learning Fusion of Monocular and Stereo Depth Maps Using Convolutional Neural Networks}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:8649d62f-6266-44a4-89de-5b5805d83ae5}, + year = {2024} +} + +@mastersthesis{uuid:5aeb0475-b3d5-45a4-82c8-7b92fabbb683, + abstract = {Quad-planes combine hovering and vertical takeoff and landing capability with fast and efficient forward flight. Regular Quad-planes with dedicated pusher motor can be subject to gust disturbances, and are not well-equipped to deal with actuator faults. Dual-axis Tilt-Rotor quad-planes are more maneuverable due to their overactuation. This also increases their gust resilience and allows them to hover statically after actuator failures. The vehicle in this paper uses an Incremental Nonlinear Dynamic Inversion (INDI ) controller, combined with a nonlinear Sequential Quadratic Programming (SQP) Control Allocation (CA ) algorithm, which can also find hover solutions in the case of actuator failures. We investigate both a combined allocation of linear and angular accelerations, as well as a cascaded allocation scheme. Due to large required changes in roll and pitch angles, the cascaded approach is selected in this research. Introduction of a tertiary control effort term, separation of attitude and actuator command optimization and a simulated Fault Detection and Identification ( FDI) mechanism led to repeated successful recovery from a motor failure in hover. Position tracking was demonstrated under failure in the recon- figured flight condition. Index Terms- Tilt-rotor, dual-axis tilt, quad-plane, FTC, over- actuated, control allocation}, + author = {Voß, Nico }, + keywords = {Tilt-rotor; FTC; Quadplane; control allocation; Overactuation}, + note = {Smeur, E.J.J. (mentor); Mancinelli, A. (mentor); Bombelli, A. (graduation committee); de Visser, C.C. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering}, + title = {Fault Tolerant Control in Over-Actuated Hybrid Tilt-Rotor Unmanned Aerial Vehicles}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:5aeb0475-b3d5-45a4-82c8-7b92fabbb683}, + year = {2024} +} + @mastersthesis{uuid:eb522c6b-1b1d-4988-8a7a-e2846dc697c5, abstract = {The estimation of optical flow, which determines the movement of objects in a visual scene, is a crucial problem in computer vision. It is essential for applications such as autonomous navigation, where precise motion estimation is critical for performance and safety.

Frame-based cameras capture sequences of still images at regular intervals, from which optical flow is traditionally extracted using optimization-based or learning-based methods. Recently, event-based cameras, which detect changes in pixel brightness asynchronously, have gained traction due to their high temporal resolution and robustness to motion blur, and many algorithms have been developed to estimate optical flow from this data. IDNet is a learning-based approach that achieves state-of-the-art performance. However, IDNet and similar models face two major challenges: they require labeled ground-truth data for training, which is scarce and difficult to collect, and they rely on recurrent neural networks (RNNs) with a fixed number of refinement iterations. This fixed iteration scheme does not adapt to scene complexity, limiting accuracy for complex flows and increasing computational effort for simpler patterns.

The aim of this project is to explore, implement, and evaluate potential methods to address these two mentioned limitations and enhance the capabilities of models like IDNet.

To remove the need for ground-truth data, a self-supervised learning paradigm was implemented by introducing a novel contrast maximization loss that assesses the blur present when accumulating raw events for a certain time interval and compensating it with the predicted flow. To assess the effectiveness of this method, models were trained on the benchmark MVSEC dataset, showing improved results over previous methods with up to 15% on some sequences and an 8% improvement on average. Based on these experiments and results, further research directions were proposed.

As for the problem of the current fixed iteration scheme, Deep Equilibrium Models were found to provide a promising pathway to solving it. These novel models reformulate their iterative structure into a root-finding problem and utilize traditional solvers to find a solution based on some tolerance, providing a trade-off between speed and accuracy. Moreover, they allow for direct differentiation through the network using only their final estimate, compared to previous methods that keep track of their state through all iterations, leading to an O(1) memory consumption. Implementing these and some additional ideas, the trained DEQ IDNet model reached competitive performance on the DSEC dataset while consuming 15% less memory. Yet, further work is needed to close the gap and achieve state-of-the-art performance.}, author = {Shokolarov, Aleksandar }, @@ -74,18 +110,6 @@ @mastersthesis{uuid:3193131c-6b68-46a2-afe1-964a044dd6f9 year = {2024} } -@mastersthesis{uuid:9ab2b4ba-8f91-4891-8190-4a96f77c471e, - abstract = {New insights into the landing behavior of bumblebees show an adaptive strategy where the optical flow expansion of the landing target is step-wise regulated. In this article, the potential benefits of this approach are studied by replicating the landing experiment with a quadrotor. To this end, an open-loop switching method is developed, enabling fast steps in divergence. An adaptive control law is used to deal with non-linear system dynamics, where the control gain is scheduled based on the control effectiveness of the actuator inputs during the steps. It is demonstrated that the quadrotor can reliably land on the target from varying initial positions, and the switching strategy shows a slight reduction in landing time compared to a constant divergence strategy with the same average divergence over distance. This strategy also reduces the maximum velocity during the landing.}, - author = {Hazelaar, Sander }, - keywords = {Visual Servoing; Autonomous Landing; Quadrotor Control; Non-linear systems; Computer Vision}, - note = {de Croon, G.C.H.E. (mentor); Yedutenko, M. (graduation committee); Delft University of Technology (degree granting institution)}, - school = {TU Delft Aerospace Engineering}, - title = {Adaptive Visual Servoing Control for Quadrotors: A Bio-inspired Strategy Using Active Vision}, - type = {mathesis}, - url = {http://resolver.tudelft.nl/uuid:9ab2b4ba-8f91-4891-8190-4a96f77c471e}, - year = {2024} -} - @mastersthesis{uuid:9a295d44-1e95-4911-a4a2-4a96c498fe79, abstract = {Drones are increasingly used nowadays, primarily for visual inspection tasks facilitated by onboard cameras. The field of aerial manipulation tries to expand the capabilities of drones by attaching a manipulator, enabling physical interaction. Unfortunately, the usability of aerial manipulators is hindered by disturbances resulting from the movements of the manipulator. These disturbances, including reaction forces and a shifting centre of mass, not only affect manipulation accuracy but also pose safety risks by potentially destabilizing the drone. In this thesis, a design is presented that addresses this challenge by leveraging the theory of dynamic balance.
A new design approach of making a manipulator fly, instead of the common approach of mounting a manipulator arm to a drone was used. This new approach avoids interference with the drone's components, allowing to focus on the design of the manipulator arm. Furthermore, it made it possible to create a manipulator which can manipulate above, to the side and underneath itself. This makes the presented manipulator arm more versatile than common aerial manipulators whose workspace is mostly located only above or below the drone. The kinematics, workspace and balance conditions of the manipulator arm are presented. Furthermore, the design's workspace is optimised while the mass of the manipulator is minimized in a bilevel optimisation. Finally, the design is validated both by simulation and measurements performed with the built prototype.
The design presented is the first inherently fully dynamically balanced manipulator with omnidirectional workspace which can be used for aerial manipulation.
In this thesis project, a drone is designed, built, and programmed to navigate autonomously in the rainforest with complete onboard computing and no GPS localisation. This 500-gram drone is being extensively tested and optimized in real forest conditions, and a dataset is being created from its autonomous flights to simulate various configurations of the path-planning algorithm. The results of these simulations on this dataset are then used for thorough research on how the algorithm can downscale to smaller systems and how this affects performance.

By using the results of this research on downscaling, a 100-gram drone is built and programmed to fly in forest conditions with complete onboard computation. Challenging on this small-size drone is the use of low-quality lightweight sensors and processor. The processor only weighs 10 grams, and the depth camera weighs 8 grams. Unique on this small drone is the 3D path planning fully computed onboard and the implementation of a new type of depth camera.}, author = {Zwanenburg, Andreas }, @@ -326,6 +362,30 @@ @mastersthesis{uuid:5d786e19-6871-4478-bda8-43f7cab20633 year = {2023} } +@mastersthesis{uuid:35f8de9d-98a3-457e-8f02-33d2a40de595, + abstract = {}, + author = {Ronsse, Louis }, + keywords = {}, + note = {Hamaza, S. (mentor); Dransfeld, C.A. (mentor); van Oosterom, S.J.M. (graduation committee); Jigjid, K. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; De Vusser, Mathis }, + title = {Design of an Aerial-Aquatic Inspection Drone}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:35f8de9d-98a3-457e-8f02-33d2a40de595}, + year = {2023} +} + +@mastersthesis{uuid:99e01573-9ec5-4c67-8b65-e266ad83098a, + abstract = {}, + author = {Çelebi, Doruk }, + keywords = {}, + note = {Remes, B.D.W. (mentor); Giovanardi, Bianca (graduation committee); Westerbeek, S.H.J. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; de Bruijn, Marnix }, + title = {Maritime Drone Swarm}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:99e01573-9ec5-4c67-8b65-e266ad83098a}, + year = {2023} +} + @mastersthesis{uuid:3fcc6230-86fc-4848-a6ed-16dd46fea640, abstract = {Due to rising energy prices, an increasing number of households are experiencing difficulties with the affordability of their energy bills. As a result, households are unable to heat or cool their homes, or use electrical appliances as desired. This is known as energy poverty. This research focuses on energy poverty within housing associations. As two-thirds of households experiencing energy poverty live in housing association homes, this research is specifically targeted at housing associations. The research examines the possible gap between what housing associations are doing to combat energy poverty for their tenants, and what tenants would like to see housing associations do for them. Since renovation is simply too expensive and takes several years, it is excluded from consideration. As a result, housing associations will need to take other measures to help their tenants. This research will look at these taken measures and provides recommendations to housing associations to reduce and possibly solve the gap between what they can do and what tenants want to happen. The main question of this thesis is: What can housing associations do to close the gap between them and their tenants in the social housing sector regarding combating energy poverty?
This research will be carried out based on a qualitative study in which literature will be reviewed, and housing associations and tenant organisations will be interviewed. The aim is to identify the gap between what is desired by tenants and capable of housing associations and to draw up recommendations for housing associations to assist their tenants as well as possible. The recommendations of the research indicate that many of the gaps found during the comparison of the focus groups have to do with communication, both improving communication itself, and setting up communication between tenants and the association to reduce energy poverty.already, from photography and videography to racing. More use cases are now being conceived,
such as using drones to deliver packages and food to people at home, using drones for inspections,
or even using them as rescue searching vehicles in hostile environments. Even more possibilities
open up once the drones bundle their forces to create swarms. The lifting capabilities of drones are
still somewhat limited, but in a swarm they might be able to lift heavy payloads. This report covers
the design of a concept of a payload carrying swarm, intended to lift cargo up to 500 kg to even the
top of a tall building.}, + author = {Bracke, Aaron }, keywords = {}, - note = {de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor); Izzo, Dario (mentor); Delft University of Technology (degree granting institution)}, - school = {TU Delft Aerospace Engineering}, - title = {An Adaptive Control Strategy for Neural Network based Optimal Quadcopter Controllers}, + note = {Smeur, E.J.J. (mentor); Eleftheroglou, N. (graduation committee); van 't Hoff, J.A. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; Džubinský, Maxim }, + title = {DroneCrane}, type = {mathesis}, - url = {http://resolver.tudelft.nl/uuid:b43a9703-082c-47c7-a56e-d50794ee8c1c}, + url = {http://resolver.tudelft.nl/uuid:83ff9b16-d3bb-4ac7-aa8a-26f4a73a6e6d}, + year = {2022} +} + +@mastersthesis{uuid:5184c93c-fafb-4069-a6b0-75acdb42f081, + abstract = {}, + author = {Xausa, Marco }, + keywords = {}, + note = {Dransfeld, C.A. (mentor); Hamaza, S. (mentor); Hwang, S. (mentor); Gomes de Paula, N.C. (mentor); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; van der Saag, Jelmer }, + title = {Aerial Deployment of an Autonomous Remote Sensing Network}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:5184c93c-fafb-4069-a6b0-75acdb42f081}, year = {2022} } @@ -1214,18 +1298,6 @@ @mastersthesis{uuid:99f41ef5-f2c9-4a0a-9b89-0245e106f6de year = {2019} } -@mastersthesis{uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e, - abstract = {The exceptional flight capabilities of insects have long amazed and inspired researchers and roboticists striving to make Micro Aerial Vehicles (MAVs) smaller and more agile. It is well known that optical flow plays a prominent role in insect flight control and navigation, and hence it is being increasingly investigated for applications in flying robots as well. However, optical flow based strategies for estimation and stabilization of orientation remain obscure in literature. In this report, we introduce a novel state estimation algorithm based on optical flow measurements and the knowledge of efference copies. The proposed technique estimates the following states of a flying robot (constrained to move with three degrees of freedom): roll angle, rate of change of roll angle, horizontal and vertical components of velocity and height. The estimator only utilizes the knowledge of control inputs and optical flow measurements obtained from a downward looking monocular camera. Through non-linear observability analysis, we theoretically prove the feasibility of estimating the attitude of a MAV using ventral flow and divergence measurements. Based on the findings of the observability analysis, an extended Kalman filter state estimator is designed and its performance is verified in simulations and through flight data recorded on a real flying robot. To the best of our knowledge, the introduced strategy is the first attitude estimation technique that utilizes monocular optical flow as the only sensory information.

Besides the investigation on optical flow based attitude estimation technique, this thesis presents a comprehensive literature survey on the main topics relevant to the work.}, - author = {Chatterjee, Abhishek }, - keywords = {Bio-inspiration; Optical Flow; Insect flight; Attitude Estimation; Micro Aerial Vehicle}, - note = {de Croon, G.C.H.E. (mentor); Olejnik, D.A. (graduation committee); Delft University of Technology (degree granting institution)}, - school = {TU Delft Aerospace Engineering}, - title = {Monocular Optical Flow based Attitude Estimation in Micro Aerial Vehicles: A Bio-Inspired Approach}, - type = {mathesis}, - url = {http://resolver.tudelft.nl/uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e}, - year = {2019} -} - @mastersthesis{uuid:cc607dbb-7116-4c9f-991f-988d832833a9, abstract = {This study investigates the wing deformation of the flapping-wing micro air vehicle (MAV) DelFly II in various flight configurations. Experiments were carried out with the MAV tethered in a windtunnel test section. To determine the best suited measurement approach, a trade-off study was carried out which showed that a point tracking approach with background illumination is most suitable. The therefore used high-speed camera pair and illumination were mounted on the same rotating frame with the DelFly, which allowed adequate viewing axes of the wings at for all pitch angles. Processing was done a purpose-build algorithm, allowing 136 points per wing to be measured simultaneously with an average lost point ratio of 3.4 % and an estimated accuracy of 0.25 mm. Results of hovering flight show some previously unnoticed behaviors. First, it was noted that the upper and lower wing on each side do not deform purely symmetric but show some considerable asymmetric behavior like heave and camber production. Furthermore, the upper wing shows a torsional wave and recoil behavior at faster flapping frequencies, which was shown to be beneficial in insect flight. Lastly, it was found that an air-buffer remains present between the wing surfaces at all times of the clap-and-peel motion (apart from the root trailing edge). This air-buffer increases once freestream velocity is added, which is investigated during the climbing flight study. Here, the reduced angle of attack of the wing is assumed to reduce the wing loading at faster climb, resulting in lower deformations outside the clap-and-peel motion. The isolated effect of a body pitch angle is also studied. Here, the asymmetrical freestream direction results in larger asymmetries such as wing alignment with the freestream direction and reduced camber and even camber reversal during the upstroke. In forward flight the pitch angle is changed simultaneously with the flapping frequency and freestream velocity. Due to the non-linear properties the wing deforms not directly as a superposition of the individual effects. Deviations are mostly present in increased asymmetry in incidence angle, while the camber behaves more linear and the clap-and-peel motion also remains relatively unchanged. The torsional wave and recoil are here however reduced. Descending flight was also tested. Velocities below 1m/s result in relatively minor deformation changes, while faster descent leads to large flapping frequency fluctuations, making interpretation of the results impossible.}, author = {Heitzig, Dorian }, @@ -1238,6 +1310,18 @@ @mastersthesis{uuid:cc607dbb-7116-4c9f-991f-988d832833a9 year = {2019} } +@mastersthesis{uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e, + abstract = {The exceptional flight capabilities of insects have long amazed and inspired researchers and roboticists striving to make Micro Aerial Vehicles (MAVs) smaller and more agile. It is well known that optical flow plays a prominent role in insect flight control and navigation, and hence it is being increasingly investigated for applications in flying robots as well. However, optical flow based strategies for estimation and stabilization of orientation remain obscure in literature. In this report, we introduce a novel state estimation algorithm based on optical flow measurements and the knowledge of efference copies. The proposed technique estimates the following states of a flying robot (constrained to move with three degrees of freedom): roll angle, rate of change of roll angle, horizontal and vertical components of velocity and height. The estimator only utilizes the knowledge of control inputs and optical flow measurements obtained from a downward looking monocular camera. Through non-linear observability analysis, we theoretically prove the feasibility of estimating the attitude of a MAV using ventral flow and divergence measurements. Based on the findings of the observability analysis, an extended Kalman filter state estimator is designed and its performance is verified in simulations and through flight data recorded on a real flying robot. To the best of our knowledge, the introduced strategy is the first attitude estimation technique that utilizes monocular optical flow as the only sensory information.

Besides the investigation on optical flow based attitude estimation technique, this thesis presents a comprehensive literature survey on the main topics relevant to the work.}, + author = {Chatterjee, Abhishek }, + keywords = {Bio-inspiration; Optical Flow; Insect flight; Attitude Estimation; Micro Aerial Vehicle}, + note = {de Croon, G.C.H.E. (mentor); Olejnik, D.A. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering}, + title = {Monocular Optical Flow based Attitude Estimation in Micro Aerial Vehicles: A Bio-Inspired Approach}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e}, + year = {2019} +} + @mastersthesis{uuid:38547b1d-0535-4b30-a348-67ac40c7ddcc, abstract = {Online Reinforcement Learning is a possible solution for adaptive nonlinear flight control. In this research an Adaptive Critic Design (ACD) based on Dual Heuristic Dynamic Programming (DHP) is developed and implemented on a simulated Cessna Citation 550 aircraft. Using an online identified system model approximation, the method is independent of prior model knowledge. The agent consists of two Artificial Neural Networks (ANNs) which form the Adaptive Critic Design and is supplemented with a Recursive Least Squares (RLS) online model estimation. The implemented agent is demonstrated to learn a near optimal control policy for different operating points, which is capable of tracking pitch and roll rate while actively minimizing the sideslip angle in a faster than real-time simulation. Providing limited model knowledge is shown to increase the learning, performance and robustness of the controller.}, author = {Kroezen, Dave }, diff --git a/pure.bib b/pure.bib index acbadad..4e3c047 100644 --- a/pure.bib +++ b/pure.bib @@ -2,6 +2,71 @@ # Import from: https://research.tudelft.nl/en/organisations/control-simulation/publications/ +@article{e6b721abd0284a90a9aedb90bd9a7da0, + author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and {De Wagter}, Christophe and {de Croon}, {Guido C.H.E.}}, + day = {19}, + doi = {10.1126/scirobotics.adi6421}, + issn = {2470-9476}, + journal = {Science Robotics}, + language = {English}, + month = {June}, + number = {91}, + pages = {eadi6421}, + publisher = {American Association for the Advancement of Science}, + title = {Optimality principles in spacecraft neural guidance and control}, + url = {https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control}, + volume = {9}, + year = {2024} +} + +@article{cc309432ce7b43009e0742f2afc3b9b3, + author = {{de Croon}, {G. C.H.E.} and {De Wagter}, C.}, + doi = {10.1142/S2301385024020035}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + language = {English}, + number = {3}, + pages = {563--564}, + publisher = {World Scientific Publishing}, + title = {Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022}, + url = {https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi}, + volume = {12}, + year = {2024} +} + +@article{b4c869ece0b34c1c863cad462c79f190, + author = {Bahnam, {S. A.} and {De Wagter}, C. and {De Croon}, {G. C.H.E.}}, + doi = {10.1142/S2301385024410012}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + keywords = {computational efficiency, ROVIO, Visual inertial odometry}, + language = {English}, + number = {3}, + pages = {589--598}, + publisher = {World Scientific Publishing}, + title = {Improving the Computational Efficiency of ROVIO}, + url = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2}, + volume = {12}, + year = {2024} +} + +@article{5ab41ef5d22d4c92b58b0e0673ac9097, + author = {Suryansh Sharma and Mike Verhoeff and Floor Joosen and Prasad, {RR Venkatesha} and Salua Hamaza}, + doi = {10.1109/LRA.2024.3406061}, + issn = {2377-3766}, + journal = {IEEE Robotics and Automation Letters}, + keywords = {Accelerometers, Arms, blimps, Drones, ecology monitoring, failure resilience, Mechanical sensors, morphing drones, Motors, Quadrotors, remote sensing, Robot sensing systems, UAV design}, + language = {English}, + note = {Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. }, + number = {7}, + pages = {6408--6415}, + publisher = {IEEE}, + title = {A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing}, + url = {https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo}, + volume = {9}, + year = {2024} +} + @article{6cbe83a31f8648b0b47888e71f807546, author = {F. Paredes-Vall{\'e}s and J.J. Hagenaars and J. Dupeyroux and S. Stroobants and Y. Xu and {de Croon}, G.C.H.E.}, doi = {10.1126/scirobotics.adi0591}, @@ -248,9 +313,12 @@ @article{25b011785cc942d1a7f9ec798d99b656 issn = {2301-3850}, journal = {Unmanned Systems}, language = {English}, + number = {3}, + pages = {579--588}, publisher = {World Scientific Publishing}, title = {Design and Joint Control of a Conjoined Biplane and Quadrotor}, url = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2}, + volume = {12}, year = {2023} } diff --git a/pure/cs.bib b/pure/cs.bib index ff3fca8..1a667a5 100644 --- a/pure/cs.bib +++ b/pure/cs.bib @@ -2,6 +2,159 @@ # Import from: https://research.tudelft.nl/en/organisations/control-simulation/publications/ +# Optimality principles in spacecraft neural guidance and control +# https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control + +@article{e6b721abd0284a90a9aedb90bd9a7da0, + title = "Optimality principles in spacecraft neural guidance and control", + url = "https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control", + author = "Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and {De Wagter}, Christophe and {de Croon}, {Guido C.H.E.}", + year = "2024", + month = jun, + day = "19", + doi = "10.1126/scirobotics.adi6421", + language = "English", + volume = "9", + pages = "eadi6421", + journal = "Science Robotics", + issn = "2470-9476", + publisher = "American Association for the Advancement of Science", + number = "91", + url = "https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control", +} + +# Learning-based methods for adaptive informative path planning +# https://research.tudelft.nl/en/publications/learning-based-methods-for-adaptive-informative-path-planning + +@article{01ce1db541794385aba84764985a4e86, + title = "Learning-based methods for adaptive informative path planning", + keywords = "Active learning, Informative path planning, Robot learning", + url = "https://research.tudelft.nl/en/publications/learning-based-methods-for-adaptive-informative-path-planning", + author = "Marija Popovi{\'c} and Joshua Ott and Julius R{\"u}ckin and Kochenderfer, {Mykel J.}", + year = "2024", + doi = "10.1016/j.robot.2024.104727", + language = "English", + volume = "179", + journal = "Robotics and Autonomous Systems", + issn = "0921-8890", + publisher = "Elsevier", + url = "https://research.tudelft.nl/en/publications/learning-based-methods-for-adaptive-informative-path-planning", +} + +# Power smoothing by kite tether force control for megawatt-scale airborne wind energy systems +# https://research.tudelft.nl/en/publications/power-smoothing-by-kite-tether-force-control-for-megawatt-scale-a + +@article{58674cbb9f6f4e66ac89cfd115bb44f2, + title = "Power smoothing by kite tether force control for megawatt-scale airborne wind energy systems", + url = "https://research.tudelft.nl/en/publications/power-smoothing-by-kite-tether-force-control-for-megawatt-scale-a", + author = "J.I.S. Hummel and T.S.C. Pollack and D. Eijkelhof and {van Kampen}, E. and R. Schmehl", + year = "2024", + doi = "10.1088/1742-6596/2767/7/072019", + language = "English", + volume = "2767", + journal = "Journal of Physics: Conference Series", + issn = "1742-6588", + publisher = "IOP Publishing", + number = "7", + url = "https://research.tudelft.nl/en/publications/power-smoothing-by-kite-tether-force-control-for-megawatt-scale-a", +} + +# Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022 +# https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi + +@article{cc309432ce7b43009e0742f2afc3b9b3, + title = "Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022", + url = "https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi", + author = "{de Croon}, {G. C.H.E.} and {De Wagter}, C.", + year = "2024", + doi = "10.1142/S2301385024020035", + language = "English", + volume = "12", + pages = "563--564", + journal = "Unmanned Systems", + issn = "2301-3850", + publisher = "World Scientific Publishing", + number = "3", + url = "https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi", +} + +# Improving the Computational Efficiency of ROVIO +# https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2 + +@article{b4c869ece0b34c1c863cad462c79f190, + title = "Improving the Computational Efficiency of ROVIO", + keywords = "computational efficiency, ROVIO, Visual inertial odometry", + url = "https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2", + author = "Bahnam, {S. A.} and {De Wagter}, C. and {De Croon}, {G. C.H.E.}", + year = "2024", + doi = "10.1142/S2301385024410012", + language = "English", + volume = "12", + pages = "589--598", + journal = "Unmanned Systems", + issn = "2301-3850", + publisher = "World Scientific Publishing", + number = "3", + url = "https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2", +} + +# A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing +# https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo + +@article{5ab41ef5d22d4c92b58b0e0673ac9097, + title = "A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing", + keywords = "Accelerometers, Arms, blimps, Drones, ecology monitoring, failure resilience, Mechanical sensors, morphing drones, Motors, Quadrotors, remote sensing, Robot sensing systems, UAV design", + url = "https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo", + author = "Suryansh Sharma and Mike Verhoeff and Floor Joosen and Prasad, {RR Venkatesha} and Salua Hamaza", + url = "https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo", + note = "Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ", + year = "2024", + doi = "10.1109/LRA.2024.3406061", + language = "English", + volume = "9", + pages = "6408--6415", + journal = "IEEE Robotics and Automation Letters", + issn = "2377-3766", + publisher = "IEEE", + number = "7", + url = "https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo", +} + +# Human-centered Steer-by-Wire design: Steering wheel dynamics should be task dependent +# https://research.tudelft.nl/en/publications/human-centered-steer-by-wire-design-steering-wheel-dynamics-shoul + +@inproceedings{fb72133676ef460a83a34c045d77ca0c, + title = "Human-centered Steer-by-Wire design: Steering wheel dynamics should be task dependent", + keywords = "driving, driving simulator, human-centered design, neuromuscular admittance, steer-by-wire", + url = "https://research.tudelft.nl/en/publications/human-centered-steer-by-wire-design-steering-wheel-dynamics-shoul", + author = "Mark Mulder and Abbink, {David A.} and Boer, {Erwin R.} and {Van Paassen}, {M. M.}", + year = "2012", + doi = "10.1109/ICSMC.2012.6378187", + language = "English", + isbn = "9781467317146", + series = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics", + pages = "3015--3019", + booktitle = "Proceedings 2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012", + note = "2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012 ; Conference date: 14-10-2012 Through 17-10-2012", + url = "https://research.tudelft.nl/en/publications/human-centered-steer-by-wire-design-steering-wheel-dynamics-shoul", +} + +# The neuromuscular system +# https://research.tudelft.nl/en/publications/the-neuromuscular-system + +@inproceedings{80b2065fc22a4b13acf3e40b0ec70826, + title = "The neuromuscular system", + url = "https://research.tudelft.nl/en/publications/the-neuromuscular-system", + author = "Hosman, {Ruud J.A.W.} and Abbink, {David A.} and Cardullo, {Frank M.}", + year = "2010", + language = "English", + isbn = "9781624101526", + series = "AIAA Modeling and Simulation Technologies Conference 2010", + booktitle = "AIAA Modeling and Simulation Technologies Conference 2010", + note = "AIAA Modeling and Simulation Technologies Conference 2010 ; Conference date: 02-08-2010 Through 05-08-2010", + url = "https://research.tudelft.nl/en/publications/the-neuromuscular-system", +} + # Fully neuromorphic vision and control for autonomous drone flight # https://research.tudelft.nl/en/publications/fully-neuromorphic-vision-and-control-for-autonomous-drone-flight @@ -216,13 +369,17 @@ @article{34302c2e37804e2db0fbfac55f4d9da2 keywords = "Damping, Force, Friction, Haptic interfaces, haptics, human threshold, Impedance, just-noticeable difference (JND), Linear systems, masking, mass–spring–damper system, perception, Task analysis", url = "https://research.tudelft.nl/en/publications/thresholds-for-perceiving-changes-in-friction-when-combined-with-", author = "Robbin Veldhuis and Max Mulder and {van Paassen}, {M. M.}", + url = "https://research.tudelft.nl/en/publications/thresholds-for-perceiving-changes-in-friction-when-combined-with-", + note = "Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ", year = "2024", doi = "10.1109/THMS.2024.3368358", language = "English", - pages = "1--11", + volume = "54", + pages = "260 -- 270", journal = "IEEE Transactions on Human-Machine Systems", issn = "2168-2291", publisher = "IEEE Systems, Man, and Cybernetics Society", + number = "3", url = "https://research.tudelft.nl/en/publications/thresholds-for-perceiving-changes-in-friction-when-combined-with-", } @@ -291,9 +448,12 @@ @article{e9f92bbb0fbd409fbe4f86ad1b78f9cd year = "2024", doi = "10.1007/s10111-024-00751-z", language = "English", + volume = "26", + pages = "267--279", journal = "Cognition, Technology and Work", issn = "1435-5558", publisher = "Springer", + number = "2", url = "https://research.tudelft.nl/en/publications/using-problem-based-exploratory-training-to-improve-pilot-underst", } @@ -570,8 +730,9 @@ @inproceedings{ade99ee177e84c8c956b6fe6a666e495 year = "2024", doi = "10.2514/6.2024-2402", language = "English", - booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", + series = "AIAA SciTech Forum and Exposition, 2024", publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)", + booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", address = "United States", note = "AIAA SCITECH 2024 Forum ; Conference date: 08-01-2024 Through 12-01-2024", url = "https://research.tudelft.nl/en/publications/flight-testing-reinforcement-learning-based-online-adaptive-fligh", @@ -587,8 +748,9 @@ @inproceedings{0ca8e7f66d624425ae47830d1024ba39 year = "2024", doi = "10.2514/6.2024-2816", language = "English", - booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", + series = "AIAA SciTech Forum and Exposition, 2024", publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)", + booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", address = "United States", note = "AIAA SCITECH 2024 Forum ; Conference date: 08-01-2024 Through 12-01-2024", url = "https://research.tudelft.nl/en/publications/blade-element-theory-model-for-uav-blade-damage-simulation", @@ -625,8 +787,9 @@ @inproceedings{efdab9845c44460f92643eccdc2ab6f5 year = "2024", doi = "10.2514/6.2024-0954", language = "English", - booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", + series = "AIAA SciTech Forum and Exposition, 2024", publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)", + booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", address = "United States", url = "https://research.tudelft.nl/en/publications/evolutionary-reinforcement-learning-a-hybrid-approach-for-safety-", } @@ -676,8 +839,9 @@ @inproceedings{02616c7bffaa45f19b32875a6a9e3061 year = "2024", doi = "10.2514/6.2024-2406", language = "English", - booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", + series = "AIAA SciTech Forum and Exposition, 2024", publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)", + booktitle = "Proceedings of the AIAA SCITECH 2024 Forum", address = "United States", note = "AIAA SCITECH 2024 Forum ; Conference date: 08-01-2024 Through 12-01-2024", url = "https://research.tudelft.nl/en/publications/hybrid-soft-actor-critic-and-incremental-dual-heuristic-programmi", @@ -1287,9 +1451,12 @@ @article{25b011785cc942d1a7f9ec798d99b656 year = "2023", doi = "10.1142/S2301385024430039", language = "English", + volume = "12", + pages = "579--588", journal = "Unmanned Systems", issn = "2301-3850", publisher = "World Scientific Publishing", + number = "3", url = "https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2", } @@ -28983,7 +29150,7 @@ @phdthesis{ac4045a7acc34eef9595d1dfb5070a98 year = "2014", language = "English", isbn = "978-94-6259-096-0", - publisher = "Ipskamp Drukkers", + publisher = "Ipskamp", type = "Dissertation (TU Delft)", school = "Delft University of Technology", url = "https://research.tudelft.nl/en/publications/measuring-modeling-and-mitigating-biodynamic-feedthrough", diff --git a/userbibs/user_croon.bib b/userbibs/user_croon.bib index 2c38a4f..4f4b51f 100644 --- a/userbibs/user_croon.bib +++ b/userbibs/user_croon.bib @@ -82,15 +82,6 @@ @misc{2305.13891 year = {2023} } -@misc{2305.13078, - author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and Christophe De Wagter and Guido C. H. E. de Croon}, - eprint = {arXiv:2305.13078}, - pdf = {https://arxiv.org/pdf/2305.13078.pdf}, - title = {Optimality Principles in Spacecraft Neural Guidance and Control}, - url = {https://arxiv.org/abs/2305.13078}, - year = {2023} -} - @misc{2305.02705, author = {Sebastien Origer and Christophe De Wagter and Robin Ferede and Guido C. H. E. de Croon and Dario Izzo}, eprint = {arXiv:2305.02705}, @@ -100,15 +91,6 @@ @misc{2305.02705 year = {2023} } -@misc{2304.13460, - author = {Robin Ferede and Guido C. H. E. de Croon and Christophe De Wagter and Dario Izzo}, - eprint = {arXiv:2304.13460}, - pdf = {https://arxiv.org/pdf/2304.13460.pdf}, - title = {End-to-end Neural Network Based Quadcopter control}, - url = {https://arxiv.org/abs/2304.13460}, - year = {2023} -} - @misc{2304.08778, author = {Stein Stroobants and Christophe De Wagter and Guido C. H. E. de Croon}, eprint = {arXiv:2304.08778}, @@ -504,6 +486,57 @@ @data{10.34894/qizxrf year = {2017} } +@article{e6b721abd0284a90a9aedb90bd9a7da0, + author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and {De Wagter}, Christophe and {de Croon}, {Guido C.H.E.}}, + day = {19}, + doi = {10.1126/scirobotics.adi6421}, + issn = {2470-9476}, + journal = {Science Robotics}, + language = {English}, + month = {June}, + number = {91}, + pages = {eadi6421}, + pdf = {https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control}, + publisher = {American Association for the Advancement of Science}, + title = {Optimality principles in spacecraft neural guidance and control}, + url = {https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control}, + volume = {9}, + year = {2024} +} + +@article{cc309432ce7b43009e0742f2afc3b9b3, + author = {{de Croon}, {G. C.H.E.} and {De Wagter}, C.}, + doi = {10.1142/S2301385024020035}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + language = {English}, + number = {3}, + pages = {563--564}, + pdf = {https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi}, + publisher = {World Scientific Publishing}, + title = {Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022}, + url = {https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi}, + volume = {12}, + year = {2024} +} + +@article{b4c869ece0b34c1c863cad462c79f190, + author = {Bahnam, {S. A.} and {De Wagter}, C. and {De Croon}, {G. C.H.E.}}, + doi = {10.1142/S2301385024410012}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + keywords = {computational efficiency, ROVIO, Visual inertial odometry}, + language = {English}, + number = {3}, + pages = {589--598}, + pdf = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2}, + publisher = {World Scientific Publishing}, + title = {Improving the Computational Efficiency of ROVIO}, + url = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2}, + volume = {12}, + year = {2024} +} + @article{6cbe83a31f8648b0b47888e71f807546, author = {F. Paredes-Vall{\'e}s and J.J. Hagenaars and J. Dupeyroux and S. Stroobants and Y. Xu and {de Croon}, G.C.H.E.}, doi = {10.1126/scirobotics.adi0591}, diff --git a/userbibs/user_hamaza.bib b/userbibs/user_hamaza.bib index be3e438..febe7c1 100644 --- a/userbibs/user_hamaza.bib +++ b/userbibs/user_hamaza.bib @@ -10,6 +10,24 @@ @misc{1709.08536 year = {2017} } +@article{5ab41ef5d22d4c92b58b0e0673ac9097, + author = {Suryansh Sharma and Mike Verhoeff and Floor Joosen and Prasad, {RR Venkatesha} and Salua Hamaza}, + doi = {10.1109/LRA.2024.3406061}, + issn = {2377-3766}, + journal = {IEEE Robotics and Automation Letters}, + keywords = {Accelerometers, Arms, blimps, Drones, ecology monitoring, failure resilience, Mechanical sensors, morphing drones, Motors, Quadrotors, remote sensing, Robot sensing systems, UAV design}, + language = {English}, + note = {Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. }, + number = {7}, + pages = {6408--6415}, + pdf = {https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo}, + publisher = {IEEE}, + title = {A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing}, + url = {https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo}, + volume = {9}, + year = {2024} +} + @inproceedings{cdeff09dcd0048b7b12f16a07f6d2751, address = {United States}, author = {S. Wang and {den Hoed}, M. and S. Hamaza}, diff --git a/userbibs/user_remes.bib b/userbibs/user_remes.bib index 5905fed..ccb76d6 100644 --- a/userbibs/user_remes.bib +++ b/userbibs/user_remes.bib @@ -28,6 +28,15 @@ @misc{2305.13891 year = {2023} } +@misc{2406.11723, + author = {Till M. Blaha and Ewoud J. J. Smeur and Bart D. W. Remes}, + eprint = {arXiv:2406.11723}, + pdf = {https://arxiv.org/pdf/2406.11723.pdf}, + title = {Control of Unknown Quadrotors from a Single Throw}, + url = {https://arxiv.org/abs/2406.11723}, + year = {2024} +} + @data{10.34894/jhnfnb, author = {Karasek, Matej and Muijres, Florian T. and De Wagter, Christophe and Remes, Bart D.W. and De Croon, Guido C.H.E.}, doi = {10.34894/JHNFNB}, @@ -55,10 +64,13 @@ @article{25b011785cc942d1a7f9ec798d99b656 issn = {2301-3850}, journal = {Unmanned Systems}, language = {English}, + number = {3}, + pages = {579--588}, pdf = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2}, publisher = {World Scientific Publishing}, title = {Design and Joint Control of a Conjoined Biplane and Quadrotor}, url = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2}, + volume = {12}, year = {2023} } diff --git a/userbibs/user_smeur.bib b/userbibs/user_smeur.bib index 9239e81..93b74f0 100644 --- a/userbibs/user_smeur.bib +++ b/userbibs/user_smeur.bib @@ -10,6 +10,15 @@ @misc{2311.09185 year = {2023} } +@misc{2406.11723, + author = {Till M. Blaha and Ewoud J. J. Smeur and Bart D. W. Remes}, + eprint = {arXiv:2406.11723}, + pdf = {https://arxiv.org/pdf/2406.11723.pdf}, + title = {Control of Unknown Quadrotors from a Single Throw}, + url = {https://arxiv.org/abs/2406.11723}, + year = {2024} +} + @misc{1902.00279, author = {Hector Garcia de Marina and Ewoud Smeur}, eprint = {arXiv:1902.00279}, @@ -25,10 +34,13 @@ @article{25b011785cc942d1a7f9ec798d99b656 issn = {2301-3850}, journal = {Unmanned Systems}, language = {English}, + number = {3}, + pages = {579--588}, pdf = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2}, publisher = {World Scientific Publishing}, title = {Design and Joint Control of a Conjoined Biplane and Quadrotor}, url = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2}, + volume = {12}, year = {2023} } diff --git a/userbibs/user_wagter.bib b/userbibs/user_wagter.bib index 69890ee..8e38c07 100644 --- a/userbibs/user_wagter.bib +++ b/userbibs/user_wagter.bib @@ -19,15 +19,6 @@ @misc{2311.16948 year = {2023} } -@misc{2305.13078, - author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and Christophe De Wagter and Guido C. H. E. de Croon}, - eprint = {arXiv:2305.13078}, - pdf = {https://arxiv.org/pdf/2305.13078.pdf}, - title = {Optimality Principles in Spacecraft Neural Guidance and Control}, - url = {https://arxiv.org/abs/2305.13078}, - year = {2023} -} - @misc{2305.02705, author = {Sebastien Origer and Christophe De Wagter and Robin Ferede and Guido C. H. E. de Croon and Dario Izzo}, eprint = {arXiv:2305.02705}, @@ -37,15 +28,6 @@ @misc{2305.02705 year = {2023} } -@misc{2304.13460, - author = {Robin Ferede and Guido C. H. E. de Croon and Christophe De Wagter and Dario Izzo}, - eprint = {arXiv:2304.13460}, - pdf = {https://arxiv.org/pdf/2304.13460.pdf}, - title = {End-to-end Neural Network Based Quadcopter control}, - url = {https://arxiv.org/abs/2304.13460}, - year = {2023} -} - @misc{2304.08778, author = {Stein Stroobants and Christophe De Wagter and Guido C. H. E. de Croon}, eprint = {arXiv:2304.08778}, @@ -168,6 +150,57 @@ @data{10.34894/jhnfnb year = {2018} } +@article{e6b721abd0284a90a9aedb90bd9a7da0, + author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and {De Wagter}, Christophe and {de Croon}, {Guido C.H.E.}}, + day = {19}, + doi = {10.1126/scirobotics.adi6421}, + issn = {2470-9476}, + journal = {Science Robotics}, + language = {English}, + month = {June}, + number = {91}, + pages = {eadi6421}, + pdf = {https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control}, + publisher = {American Association for the Advancement of Science}, + title = {Optimality principles in spacecraft neural guidance and control}, + url = {https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control}, + volume = {9}, + year = {2024} +} + +@article{cc309432ce7b43009e0742f2afc3b9b3, + author = {{de Croon}, {G. C.H.E.} and {De Wagter}, C.}, + doi = {10.1142/S2301385024020035}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + language = {English}, + number = {3}, + pages = {563--564}, + pdf = {https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi}, + publisher = {World Scientific Publishing}, + title = {Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022}, + url = {https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi}, + volume = {12}, + year = {2024} +} + +@article{b4c869ece0b34c1c863cad462c79f190, + author = {Bahnam, {S. A.} and {De Wagter}, C. and {De Croon}, {G. C.H.E.}}, + doi = {10.1142/S2301385024410012}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + keywords = {computational efficiency, ROVIO, Visual inertial odometry}, + language = {English}, + number = {3}, + pages = {589--598}, + pdf = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2}, + publisher = {World Scientific Publishing}, + title = {Improving the Computational Efficiency of ROVIO}, + url = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2}, + volume = {12}, + year = {2024} +} + @inproceedings{fbeb5c823153469baa4a8cf32bb00099, address = {United States}, author = {Federico Paredes-Vall{\'e}s and Scheper, {Kirk Y.W.} and {De Wagter}, Christope and {De Croon}, {Guido C.H.E.}}, diff --git a/website/all.bib b/website/all.bib index 20bee18..4a14573 100644 --- a/website/all.bib +++ b/website/all.bib @@ -82,15 +82,6 @@ @misc{2305.13891 year = {2023} } -@misc{2305.13078, - author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and Christophe De Wagter and Guido C. H. E. de Croon}, - eprint = {arXiv:2305.13078}, - pdf = {https://arxiv.org/pdf/2305.13078.pdf}, - title = {Optimality Principles in Spacecraft Neural Guidance and Control}, - url = {https://arxiv.org/abs/2305.13078}, - year = {2023} -} - @misc{2305.02705, author = {Sebastien Origer and Christophe De Wagter and Robin Ferede and Guido C. H. E. de Croon and Dario Izzo}, eprint = {arXiv:2305.02705}, @@ -100,15 +91,6 @@ @misc{2305.02705 year = {2023} } -@misc{2304.13460, - author = {Robin Ferede and Guido C. H. E. de Croon and Christophe De Wagter and Dario Izzo}, - eprint = {arXiv:2304.13460}, - pdf = {https://arxiv.org/pdf/2304.13460.pdf}, - title = {End-to-end Neural Network Based Quadcopter control}, - url = {https://arxiv.org/abs/2304.13460}, - year = {2023} -} - @misc{2304.08778, author = {Stein Stroobants and Christophe De Wagter and Guido C. H. E. de Croon}, eprint = {arXiv:2304.08778}, @@ -443,6 +425,15 @@ @misc{2011.00481 year = {2020} } +@misc{2406.11723, + author = {Till M. Blaha and Ewoud J. J. Smeur and Bart D. W. Remes}, + eprint = {arXiv:2406.11723}, + pdf = {https://arxiv.org/pdf/2406.11723.pdf}, + title = {Control of Unknown Quadrotors from a Single Throw}, + url = {https://arxiv.org/abs/2406.11723}, + year = {2024} +} + @misc{1902.00279, author = {Hector Garcia de Marina and Ewoud Smeur}, eprint = {arXiv:1902.00279}, @@ -2097,6 +2088,71 @@ @Comment{jabref-meta: # Import from: https://research.tudelft.nl/en/organisations/control-simulation/publications/ +@article{e6b721abd0284a90a9aedb90bd9a7da0, + author = {Dario Izzo and Emmanuel Blazquez and Robin Ferede and Sebastien Origer and {De Wagter}, Christophe and {de Croon}, {Guido C.H.E.}}, + day = {19}, + doi = {10.1126/scirobotics.adi6421}, + issn = {2470-9476}, + journal = {Science Robotics}, + language = {English}, + month = {June}, + number = {91}, + pages = {eadi6421}, + publisher = {American Association for the Advancement of Science}, + title = {Optimality principles in spacecraft neural guidance and control}, + url = {https://research.tudelft.nl/en/publications/optimality-principles-in-spacecraft-neural-guidance-and-control}, + volume = {9}, + year = {2024} +} + +@article{cc309432ce7b43009e0742f2afc3b9b3, + author = {{de Croon}, {G. C.H.E.} and {De Wagter}, C.}, + doi = {10.1142/S2301385024020035}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + language = {English}, + number = {3}, + pages = {563--564}, + publisher = {World Scientific Publishing}, + title = {Editorial: Special Issue on Advancing Micro Air Vehicle Technologies: Selected Papers from IMAV 2022}, + url = {https://research.tudelft.nl/en/publications/editorial-special-issue-on-advancing-micro-air-vehicle-technologi}, + volume = {12}, + year = {2024} +} + +@article{b4c869ece0b34c1c863cad462c79f190, + author = {Bahnam, {S. A.} and {De Wagter}, C. and {De Croon}, {G. C.H.E.}}, + doi = {10.1142/S2301385024410012}, + issn = {2301-3850}, + journal = {Unmanned Systems}, + keywords = {computational efficiency, ROVIO, Visual inertial odometry}, + language = {English}, + number = {3}, + pages = {589--598}, + publisher = {World Scientific Publishing}, + title = {Improving the Computational Efficiency of ROVIO}, + url = {https://research.tudelft.nl/en/publications/improving-the-computational-efficiency-of-rovio-2}, + volume = {12}, + year = {2024} +} + +@article{5ab41ef5d22d4c92b58b0e0673ac9097, + author = {Suryansh Sharma and Mike Verhoeff and Floor Joosen and Prasad, {RR Venkatesha} and Salua Hamaza}, + doi = {10.1109/LRA.2024.3406061}, + issn = {2377-3766}, + journal = {IEEE Robotics and Automation Letters}, + keywords = {Accelerometers, Arms, blimps, Drones, ecology monitoring, failure resilience, Mechanical sensors, morphing drones, Motors, Quadrotors, remote sensing, Robot sensing systems, UAV design}, + language = {English}, + note = {Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. }, + number = {7}, + pages = {6408--6415}, + publisher = {IEEE}, + title = {A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing}, + url = {https://research.tudelft.nl/en/publications/a-morphing-quadrotor-blimp-with-balloon-failure-resilience-for-mo}, + volume = {9}, + year = {2024} +} + @article{6cbe83a31f8648b0b47888e71f807546, author = {F. Paredes-Vall{\'e}s and J.J. Hagenaars and J. Dupeyroux and S. Stroobants and Y. Xu and {de Croon}, G.C.H.E.}, doi = {10.1126/scirobotics.adi0591}, @@ -2343,9 +2399,12 @@ @article{25b011785cc942d1a7f9ec798d99b656 issn = {2301-3850}, journal = {Unmanned Systems}, language = {English}, + number = {3}, + pages = {579--588}, publisher = {World Scientific Publishing}, title = {Design and Joint Control of a Conjoined Biplane and Quadrotor}, url = {https://research.tudelft.nl/en/publications/design-and-joint-control-of-a-conjoined-biplane-and-quadrotor-2}, + volume = {12}, year = {2023} } @@ -6818,6 +6877,42 @@ @inproceedings{e937993006e3444baedade7e1df99c33 # Import from: https://repository.tudelft.nl/islandora/search/wagter%20OR%20croon%20OR%20remes%20OR%20karasek%20OR%20smeur%20OR%20dupeyroux%20OR%20hamaza%20OR%20"Scheper, K.Y.W."%20OR%20"popovic, marija"?collection=education&display=tud_csv +@mastersthesis{uuid:7e9dd0aa-4d24-4100-a224-14e71f86cdda, + abstract = {}, + author = {Gervas Montoya, Gabriel }, + keywords = {}, + note = {Smeur, E.J.J. (mentor); Varriale, Carmine (graduation committee); Georgopoulos, P. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; Grochowski, Bartłomiej }, + title = {IUVO: An Emergency Response Flyer}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:7e9dd0aa-4d24-4100-a224-14e71f86cdda}, + year = {2024} +} + +@mastersthesis{uuid:8649d62f-6266-44a4-89de-5b5805d83ae5, + abstract = {This paper presents an encoder-decoder-style convolutional neural network (CNN) for the purpose of improving monocular and stereo depth estimation (SDE) estimates, by combining them with the corresponding monocular estimates through a fusion network, assisted by prior information to provide context for the fusion. Video cameras are commonly used for depth perception in robotics, especially weight-sensitive applications, such as on Micro Aerial Vehicles (MAV). The two primary paradigms for vision-based depth perception are monocular and stereo depth or disparity estimation, each having their own strengths and weaknesses. These strengths and weaknesses seem to be complementary, and thus a fusion of the two may result in more accurate predictions. In this paper, we investigate this fusion by training a CNN that combines stereo and monocular depth or disparity estimates. The fusion network is agnostic to the choice of the input networks, providing great flexibility. It was found that such a fusion network, while increasing the computational complexity of the depth perception pipeline, indeed improves the accuracy of the estimates. The number of outlier predictions has been significantly decreased, while also limiting some fundamental limitations of both stereo and monocular methods, such as errors arising from occluded regions.}, + author = {Tóth, Dani }, + keywords = {Computer Vision; Deep Learning; CNN; Depth Estimation}, + note = {de Croon, G.C.H.E. (mentor); van Dijk, Tom (mentor); de Wagter, C. (graduation committee); Eleftheroglou, N. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering}, + title = {Deep Learning Fusion of Monocular and Stereo Depth Maps Using Convolutional Neural Networks}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:8649d62f-6266-44a4-89de-5b5805d83ae5}, + year = {2024} +} + +@mastersthesis{uuid:5aeb0475-b3d5-45a4-82c8-7b92fabbb683, + abstract = {Quad-planes combine hovering and vertical takeoff and landing capability with fast and efficient forward flight. Regular Quad-planes with dedicated pusher motor can be subject to gust disturbances, and are not well-equipped to deal with actuator faults. Dual-axis Tilt-Rotor quad-planes are more maneuverable due to their overactuation. This also increases their gust resilience and allows them to hover statically after actuator failures. The vehicle in this paper uses an Incremental Nonlinear Dynamic Inversion (INDI ) controller, combined with a nonlinear Sequential Quadratic Programming (SQP) Control Allocation (CA ) algorithm, which can also find hover solutions in the case of actuator failures. We investigate both a combined allocation of linear and angular accelerations, as well as a cascaded allocation scheme. Due to large required changes in roll and pitch angles, the cascaded approach is selected in this research. Introduction of a tertiary control effort term, separation of attitude and actuator command optimization and a simulated Fault Detection and Identification ( FDI) mechanism led to repeated successful recovery from a motor failure in hover. Position tracking was demonstrated under failure in the recon- figured flight condition. Index Terms- Tilt-rotor, dual-axis tilt, quad-plane, FTC, over- actuated, control allocation}, + author = {Voß, Nico }, + keywords = {Tilt-rotor; FTC; Quadplane; control allocation; Overactuation}, + note = {Smeur, E.J.J. (mentor); Mancinelli, A. (mentor); Bombelli, A. (graduation committee); de Visser, C.C. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering}, + title = {Fault Tolerant Control in Over-Actuated Hybrid Tilt-Rotor Unmanned Aerial Vehicles}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:5aeb0475-b3d5-45a4-82c8-7b92fabbb683}, + year = {2024} +} + @mastersthesis{uuid:eb522c6b-1b1d-4988-8a7a-e2846dc697c5, abstract = {The estimation of optical flow, which determines the movement of objects in a visual scene, is a crucial problem in computer vision. It is essential for applications such as autonomous navigation, where precise motion estimation is critical for performance and safety.

Frame-based cameras capture sequences of still images at regular intervals, from which optical flow is traditionally extracted using optimization-based or learning-based methods. Recently, event-based cameras, which detect changes in pixel brightness asynchronously, have gained traction due to their high temporal resolution and robustness to motion blur, and many algorithms have been developed to estimate optical flow from this data. IDNet is a learning-based approach that achieves state-of-the-art performance. However, IDNet and similar models face two major challenges: they require labeled ground-truth data for training, which is scarce and difficult to collect, and they rely on recurrent neural networks (RNNs) with a fixed number of refinement iterations. This fixed iteration scheme does not adapt to scene complexity, limiting accuracy for complex flows and increasing computational effort for simpler patterns.

The aim of this project is to explore, implement, and evaluate potential methods to address these two mentioned limitations and enhance the capabilities of models like IDNet.

To remove the need for ground-truth data, a self-supervised learning paradigm was implemented by introducing a novel contrast maximization loss that assesses the blur present when accumulating raw events for a certain time interval and compensating it with the predicted flow. To assess the effectiveness of this method, models were trained on the benchmark MVSEC dataset, showing improved results over previous methods with up to 15% on some sequences and an 8% improvement on average. Based on these experiments and results, further research directions were proposed.

As for the problem of the current fixed iteration scheme, Deep Equilibrium Models were found to provide a promising pathway to solving it. These novel models reformulate their iterative structure into a root-finding problem and utilize traditional solvers to find a solution based on some tolerance, providing a trade-off between speed and accuracy. Moreover, they allow for direct differentiation through the network using only their final estimate, compared to previous methods that keep track of their state through all iterations, leading to an O(1) memory consumption. Implementing these and some additional ideas, the trained DEQ IDNet model reached competitive performance on the DSEC dataset while consuming 15% less memory. Yet, further work is needed to close the gap and achieve state-of-the-art performance.}, author = {Shokolarov, Aleksandar }, @@ -6890,18 +6985,6 @@ @mastersthesis{uuid:3193131c-6b68-46a2-afe1-964a044dd6f9 year = {2024} } -@mastersthesis{uuid:9ab2b4ba-8f91-4891-8190-4a96f77c471e, - abstract = {New insights into the landing behavior of bumblebees show an adaptive strategy where the optical flow expansion of the landing target is step-wise regulated. In this article, the potential benefits of this approach are studied by replicating the landing experiment with a quadrotor. To this end, an open-loop switching method is developed, enabling fast steps in divergence. An adaptive control law is used to deal with non-linear system dynamics, where the control gain is scheduled based on the control effectiveness of the actuator inputs during the steps. It is demonstrated that the quadrotor can reliably land on the target from varying initial positions, and the switching strategy shows a slight reduction in landing time compared to a constant divergence strategy with the same average divergence over distance. This strategy also reduces the maximum velocity during the landing.}, - author = {Hazelaar, Sander }, - keywords = {Visual Servoing; Autonomous Landing; Quadrotor Control; Non-linear systems; Computer Vision}, - note = {de Croon, G.C.H.E. (mentor); Yedutenko, M. (graduation committee); Delft University of Technology (degree granting institution)}, - school = {TU Delft Aerospace Engineering}, - title = {Adaptive Visual Servoing Control for Quadrotors: A Bio-inspired Strategy Using Active Vision}, - type = {mathesis}, - url = {http://resolver.tudelft.nl/uuid:9ab2b4ba-8f91-4891-8190-4a96f77c471e}, - year = {2024} -} - @mastersthesis{uuid:9a295d44-1e95-4911-a4a2-4a96c498fe79, abstract = {Drones are increasingly used nowadays, primarily for visual inspection tasks facilitated by onboard cameras. The field of aerial manipulation tries to expand the capabilities of drones by attaching a manipulator, enabling physical interaction. Unfortunately, the usability of aerial manipulators is hindered by disturbances resulting from the movements of the manipulator. These disturbances, including reaction forces and a shifting centre of mass, not only affect manipulation accuracy but also pose safety risks by potentially destabilizing the drone. In this thesis, a design is presented that addresses this challenge by leveraging the theory of dynamic balance.
A new design approach of making a manipulator fly, instead of the common approach of mounting a manipulator arm to a drone was used. This new approach avoids interference with the drone's components, allowing to focus on the design of the manipulator arm. Furthermore, it made it possible to create a manipulator which can manipulate above, to the side and underneath itself. This makes the presented manipulator arm more versatile than common aerial manipulators whose workspace is mostly located only above or below the drone. The kinematics, workspace and balance conditions of the manipulator arm are presented. Furthermore, the design's workspace is optimised while the mass of the manipulator is minimized in a bilevel optimisation. Finally, the design is validated both by simulation and measurements performed with the built prototype.
The design presented is the first inherently fully dynamically balanced manipulator with omnidirectional workspace which can be used for aerial manipulation.
In this thesis project, a drone is designed, built, and programmed to navigate autonomously in the rainforest with complete onboard computing and no GPS localisation. This 500-gram drone is being extensively tested and optimized in real forest conditions, and a dataset is being created from its autonomous flights to simulate various configurations of the path-planning algorithm. The results of these simulations on this dataset are then used for thorough research on how the algorithm can downscale to smaller systems and how this affects performance.

By using the results of this research on downscaling, a 100-gram drone is built and programmed to fly in forest conditions with complete onboard computation. Challenging on this small-size drone is the use of low-quality lightweight sensors and processor. The processor only weighs 10 grams, and the depth camera weighs 8 grams. Unique on this small drone is the 3D path planning fully computed onboard and the implementation of a new type of depth camera.}, author = {Zwanenburg, Andreas }, @@ -7142,6 +7237,30 @@ @mastersthesis{uuid:5d786e19-6871-4478-bda8-43f7cab20633 year = {2023} } +@mastersthesis{uuid:35f8de9d-98a3-457e-8f02-33d2a40de595, + abstract = {}, + author = {Ronsse, Louis }, + keywords = {}, + note = {Hamaza, S. (mentor); Dransfeld, C.A. (mentor); van Oosterom, S.J.M. (graduation committee); Jigjid, K. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; De Vusser, Mathis }, + title = {Design of an Aerial-Aquatic Inspection Drone}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:35f8de9d-98a3-457e-8f02-33d2a40de595}, + year = {2023} +} + +@mastersthesis{uuid:99e01573-9ec5-4c67-8b65-e266ad83098a, + abstract = {}, + author = {Çelebi, Doruk }, + keywords = {}, + note = {Remes, B.D.W. (mentor); Giovanardi, Bianca (graduation committee); Westerbeek, S.H.J. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; de Bruijn, Marnix }, + title = {Maritime Drone Swarm}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:99e01573-9ec5-4c67-8b65-e266ad83098a}, + year = {2023} +} + @mastersthesis{uuid:3fcc6230-86fc-4848-a6ed-16dd46fea640, abstract = {Due to rising energy prices, an increasing number of households are experiencing difficulties with the affordability of their energy bills. As a result, households are unable to heat or cool their homes, or use electrical appliances as desired. This is known as energy poverty. This research focuses on energy poverty within housing associations. As two-thirds of households experiencing energy poverty live in housing association homes, this research is specifically targeted at housing associations. The research examines the possible gap between what housing associations are doing to combat energy poverty for their tenants, and what tenants would like to see housing associations do for them. Since renovation is simply too expensive and takes several years, it is excluded from consideration. As a result, housing associations will need to take other measures to help their tenants. This research will look at these taken measures and provides recommendations to housing associations to reduce and possibly solve the gap between what they can do and what tenants want to happen. The main question of this thesis is: What can housing associations do to close the gap between them and their tenants in the social housing sector regarding combating energy poverty?
This research will be carried out based on a qualitative study in which literature will be reviewed, and housing associations and tenant organisations will be interviewed. The aim is to identify the gap between what is desired by tenants and capable of housing associations and to draw up recommendations for housing associations to assist their tenants as well as possible. The recommendations of the research indicate that many of the gaps found during the comparison of the focus groups have to do with communication, both improving communication itself, and setting up communication between tenants and the association to reduce energy poverty.already, from photography and videography to racing. More use cases are now being conceived,
such as using drones to deliver packages and food to people at home, using drones for inspections,
or even using them as rescue searching vehicles in hostile environments. Even more possibilities
open up once the drones bundle their forces to create swarms. The lifting capabilities of drones are
still somewhat limited, but in a swarm they might be able to lift heavy payloads. This report covers
the design of a concept of a payload carrying swarm, intended to lift cargo up to 500 kg to even the
top of a tall building.}, + author = {Bracke, Aaron }, keywords = {}, - note = {de Wagter, C. (mentor); de Croon, G.C.H.E. (mentor); Izzo, Dario (mentor); Delft University of Technology (degree granting institution)}, - school = {TU Delft Aerospace Engineering}, - title = {An Adaptive Control Strategy for Neural Network based Optimal Quadcopter Controllers}, + note = {Smeur, E.J.J. (mentor); Eleftheroglou, N. (graduation committee); van 't Hoff, J.A. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; Džubinský, Maxim }, + title = {DroneCrane}, type = {mathesis}, - url = {http://resolver.tudelft.nl/uuid:b43a9703-082c-47c7-a56e-d50794ee8c1c}, + url = {http://resolver.tudelft.nl/uuid:83ff9b16-d3bb-4ac7-aa8a-26f4a73a6e6d}, + year = {2022} +} + +@mastersthesis{uuid:5184c93c-fafb-4069-a6b0-75acdb42f081, + abstract = {}, + author = {Xausa, Marco }, + keywords = {}, + note = {Dransfeld, C.A. (mentor); Hamaza, S. (mentor); Hwang, S. (mentor); Gomes de Paula, N.C. (mentor); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering; van der Saag, Jelmer }, + title = {Aerial Deployment of an Autonomous Remote Sensing Network}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:5184c93c-fafb-4069-a6b0-75acdb42f081}, year = {2022} } @@ -8030,18 +8173,6 @@ @mastersthesis{uuid:99f41ef5-f2c9-4a0a-9b89-0245e106f6de year = {2019} } -@mastersthesis{uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e, - abstract = {The exceptional flight capabilities of insects have long amazed and inspired researchers and roboticists striving to make Micro Aerial Vehicles (MAVs) smaller and more agile. It is well known that optical flow plays a prominent role in insect flight control and navigation, and hence it is being increasingly investigated for applications in flying robots as well. However, optical flow based strategies for estimation and stabilization of orientation remain obscure in literature. In this report, we introduce a novel state estimation algorithm based on optical flow measurements and the knowledge of efference copies. The proposed technique estimates the following states of a flying robot (constrained to move with three degrees of freedom): roll angle, rate of change of roll angle, horizontal and vertical components of velocity and height. The estimator only utilizes the knowledge of control inputs and optical flow measurements obtained from a downward looking monocular camera. Through non-linear observability analysis, we theoretically prove the feasibility of estimating the attitude of a MAV using ventral flow and divergence measurements. Based on the findings of the observability analysis, an extended Kalman filter state estimator is designed and its performance is verified in simulations and through flight data recorded on a real flying robot. To the best of our knowledge, the introduced strategy is the first attitude estimation technique that utilizes monocular optical flow as the only sensory information.

Besides the investigation on optical flow based attitude estimation technique, this thesis presents a comprehensive literature survey on the main topics relevant to the work.}, - author = {Chatterjee, Abhishek }, - keywords = {Bio-inspiration; Optical Flow; Insect flight; Attitude Estimation; Micro Aerial Vehicle}, - note = {de Croon, G.C.H.E. (mentor); Olejnik, D.A. (graduation committee); Delft University of Technology (degree granting institution)}, - school = {TU Delft Aerospace Engineering}, - title = {Monocular Optical Flow based Attitude Estimation in Micro Aerial Vehicles: A Bio-Inspired Approach}, - type = {mathesis}, - url = {http://resolver.tudelft.nl/uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e}, - year = {2019} -} - @mastersthesis{uuid:cc607dbb-7116-4c9f-991f-988d832833a9, abstract = {This study investigates the wing deformation of the flapping-wing micro air vehicle (MAV) DelFly II in various flight configurations. Experiments were carried out with the MAV tethered in a windtunnel test section. To determine the best suited measurement approach, a trade-off study was carried out which showed that a point tracking approach with background illumination is most suitable. The therefore used high-speed camera pair and illumination were mounted on the same rotating frame with the DelFly, which allowed adequate viewing axes of the wings at for all pitch angles. Processing was done a purpose-build algorithm, allowing 136 points per wing to be measured simultaneously with an average lost point ratio of 3.4 % and an estimated accuracy of 0.25 mm. Results of hovering flight show some previously unnoticed behaviors. First, it was noted that the upper and lower wing on each side do not deform purely symmetric but show some considerable asymmetric behavior like heave and camber production. Furthermore, the upper wing shows a torsional wave and recoil behavior at faster flapping frequencies, which was shown to be beneficial in insect flight. Lastly, it was found that an air-buffer remains present between the wing surfaces at all times of the clap-and-peel motion (apart from the root trailing edge). This air-buffer increases once freestream velocity is added, which is investigated during the climbing flight study. Here, the reduced angle of attack of the wing is assumed to reduce the wing loading at faster climb, resulting in lower deformations outside the clap-and-peel motion. The isolated effect of a body pitch angle is also studied. Here, the asymmetrical freestream direction results in larger asymmetries such as wing alignment with the freestream direction and reduced camber and even camber reversal during the upstroke. In forward flight the pitch angle is changed simultaneously with the flapping frequency and freestream velocity. Due to the non-linear properties the wing deforms not directly as a superposition of the individual effects. Deviations are mostly present in increased asymmetry in incidence angle, while the camber behaves more linear and the clap-and-peel motion also remains relatively unchanged. The torsional wave and recoil are here however reduced. Descending flight was also tested. Velocities below 1m/s result in relatively minor deformation changes, while faster descent leads to large flapping frequency fluctuations, making interpretation of the results impossible.}, author = {Heitzig, Dorian }, @@ -8054,6 +8185,18 @@ @mastersthesis{uuid:cc607dbb-7116-4c9f-991f-988d832833a9 year = {2019} } +@mastersthesis{uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e, + abstract = {The exceptional flight capabilities of insects have long amazed and inspired researchers and roboticists striving to make Micro Aerial Vehicles (MAVs) smaller and more agile. It is well known that optical flow plays a prominent role in insect flight control and navigation, and hence it is being increasingly investigated for applications in flying robots as well. However, optical flow based strategies for estimation and stabilization of orientation remain obscure in literature. In this report, we introduce a novel state estimation algorithm based on optical flow measurements and the knowledge of efference copies. The proposed technique estimates the following states of a flying robot (constrained to move with three degrees of freedom): roll angle, rate of change of roll angle, horizontal and vertical components of velocity and height. The estimator only utilizes the knowledge of control inputs and optical flow measurements obtained from a downward looking monocular camera. Through non-linear observability analysis, we theoretically prove the feasibility of estimating the attitude of a MAV using ventral flow and divergence measurements. Based on the findings of the observability analysis, an extended Kalman filter state estimator is designed and its performance is verified in simulations and through flight data recorded on a real flying robot. To the best of our knowledge, the introduced strategy is the first attitude estimation technique that utilizes monocular optical flow as the only sensory information.

Besides the investigation on optical flow based attitude estimation technique, this thesis presents a comprehensive literature survey on the main topics relevant to the work.}, + author = {Chatterjee, Abhishek }, + keywords = {Bio-inspiration; Optical Flow; Insect flight; Attitude Estimation; Micro Aerial Vehicle}, + note = {de Croon, G.C.H.E. (mentor); Olejnik, D.A. (graduation committee); Delft University of Technology (degree granting institution)}, + school = {TU Delft Aerospace Engineering}, + title = {Monocular Optical Flow based Attitude Estimation in Micro Aerial Vehicles: A Bio-Inspired Approach}, + type = {mathesis}, + url = {http://resolver.tudelft.nl/uuid:ce520f94-bd3c-41a5-9ddd-edfdf6ead35e}, + year = {2019} +} + @mastersthesis{uuid:38547b1d-0535-4b30-a348-67ac40c7ddcc, abstract = {Online Reinforcement Learning is a possible solution for adaptive nonlinear flight control. In this research an Adaptive Critic Design (ACD) based on Dual Heuristic Dynamic Programming (DHP) is developed and implemented on a simulated Cessna Citation 550 aircraft. Using an online identified system model approximation, the method is independent of prior model knowledge. The agent consists of two Artificial Neural Networks (ANNs) which form the Adaptive Critic Design and is supplemented with a Recursive Least Squares (RLS) online model estimation. The implemented agent is demonstrated to learn a near optimal control policy for different operating points, which is capable of tracking pitch and roll rate while actively minimizing the sideslip angle in a faster than real-time simulation. Providing limited model knowledge is shown to increase the learning, performance and robustness of the controller.}, author = {Kroezen, Dave },