11 Result(s)
within
Guido C. H. E. de Croon
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Article
Open AccessReal-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation
Hybrid Unmanned Aerial Vehicles UAV are vehicles capable of take-off and landing vertically like helicopters while maintaining the long-range efficiency of fixed-wing aircraft. Unfortunately, due to their wing...
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Article
Three-dimensional relative localization and synchronized movement with wireless ranging
Relative localization is a key capability for autonomous robot swarms, and it is a substantial challenge, especially for small flying robots, as they are extremely restricted in terms of sensors and processing...
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Article
Open AccessAccommodating unobservability to control flight attitude with optic flow
Attitude control is an essential flight capability. Whereas flying robots commonly rely on accelerometers1 for estimating attitude, flying insects lack an unambiguous sense of gravity2,3. Despite the established ...
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Chapter and Conference Paper
A Novel Multi-vision Sensor Dataset for Insect-Inspired Outdoor Autonomous Navigation
Insects have—over millions of years of evolution—perfected many of the systems that roboticists aim to achieve; they can swiftly and robustly navigate through different environments under various conditions wh...
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Article
Open AccessOnline trajectory planning and control of a MAV payload system in dynamic environments
Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for...
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Article
Open AccessOn-board range-based relative localization for micro air vehicles in indoor leader–follower flight
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 depe...
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Article
Open AccessProvable self-organizing pattern formation by a swarm of robots with limited knowledge
In this paper we present a procedure to automatically design and verify the local behavior of robots with highly limited cognition. All robots are: anonymous, homogeneous, non-communicating, memoryless, reacti...
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Article
Open AccessOn-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
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...
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Chapter and Conference Paper
Optimization of Swarm Behavior Assisted by an Automatic Local Proof for a Pattern Formation Task
In this work, we optimize the behavior of swarm agents in a pattern formation task. We start with a local behavior, expressed as a local state-action map, that has been formally proven to lead the swarm to alw...
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Chapter and Conference Paper
Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics
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 on the sensory inputs and mo...
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Article
An evolutionary robotics approach for the distributed control of satellite formations
We propose and study a decentralized formation flying control architecture based on the evolutionary robotic technique. We develop our control architecture for the MIT SPHERES robotic platform on board the I...
