Publications by Dario Floreano

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Viability Evolution is an abstraction of artificial evolution which operates by eliminating candidate solutions that do not satisfy viability criteria. Viability criteria are defined as boundaries on the values of objectives and constraints of the problem ...

This paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move ...

With the aim to extend the versatility and adaptability of robots in complex environments, a novel multi-modal flying and walking robot is presented. The robot consists of a flying wing with adaptive morphology that can perform both long distance flight an ...

The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works i ...

This paper addresses the problem of adequately protecting flying robots from damage resulting from collisions that may occur when exploring constrained and cluttered environments. A method for designing protective structures to meet the specific constraint ...

Our goal is to demonstrate the ability of bio-inspired techniques to solve the problem of piloting an autonomous 40-grams aircraft within textured indoor environments. Because of severe weight and energy constraints, inspiration has been taken from the fly and only visual and vestibular-like sensors are employed. This paper describes the models and algorithms that will be used for altitude control and frontal obstacle avoidance, mainly relying on optic flow. For experimental convenience, both mechanisms hav

Groups of fixed-wing robots can benefit from moving in synchrony to share sensing and communication capabilities, avoid collisions or produce visually pleasing choreographies. Synchronous motion is especially challenging when using fixed-wing robots that r ...

Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles as h ...

Recent advances in edible robotics and edible electronics offer great potential for novel forms of culinary art with enriched and multisensory dining experiences. However, these technologies have yet to reach our tables as truly palatable food items, mainly due to prioritized effort in functionality over flavor, lack of consistency, and use of materials that are not readily available to chefs. In this work, we gastronomically revisited two edible technologies, an edible pneumatic actuator and an edible batt

Swarms of flying robots are promising in many applications due to rapid terrain coverage. However, there are numerous challenges in realising autonomous operation in unknown indoor environments. A new autonomous flight methodology is presented using relati ...

It is generally challenging to design decentralized controllers for swarms of robots because there is often no obvious relation between the individual robot behaviors and the final behavior of the swarm. As a solution, we use artificial evolution to automa ...

Micro Aerial Vehicles (MAVs) are being used in a wide range of applications such as surveillance, reconnaissance, inspection, and search and rescue. However, due to their size and mission profiles, they are prone to tipping over, jeopardizing their operati ...

A new method for the estimation of ego-motion (the direction and amplitude of the velocity) of a mobile device comprising optic-flow and inertial sensors (hereinafter the apparatus). The velocity is expressed in the apparatus's reference frame, which is mo ...

Micro Aerial Vehicles (MAVs) with perching capabilities can be used to efficiently place sensors in aloft locations. A major challenge for perching is to build a lightweight mechanism that can be easily mounted on a MAV, allowing it to perch (attach and de ...

Remote magnetic navigation of catheters is a technique used to perform radiofrequency ablation of heart tissue in order to treat cardiac arrhythmias. The flexible magnetic catheters used in this context are in some cases not sufficiently dexterous to navig ...

Flying robots are increasingly adopted in search and rescue missions because of their capability to quickly collect and stream information from remote and dangerous areas. To further enhance their use, we are investigating the development of a new class of ...

We aim at developing vision-based controllers for microyers capable of ying autonomously in indoor environments. Although signicant advances have been made in this domain over the past decade, only subproblems have been successfully addressed (for example wall avoidance) and no ying robot is yet fully capable of achieving this goal. Since ying insects show remarkable indoor ight capabilities, they serve as a major source of inspiration at the level of both sensor suite and control. Traditional approaches th

Body-machine interfaces for robotic teleoperation have been shown to improve user experience and performance. However, such interfaces must be tailored for each robot type and may require personalization to accommodate user's preferences. Here, we present ...

We aim at developing autonomous micro-flyers capable of navigating within houses or small built environments. The severe weight and energy constraints of indoor flying platforms led us to take inspiration from flying insects for the selection of sensors, s ...

Flying has an advantage when compared to ground based locomotion, as it simplifies the task of overcoming obstacles and allows for rapid coverage of an area while also providing a birds-eye-view of the environment. One of the key challenges that has preven ...

Dario Floreano

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Viability Principles for Constrained Optimization Using a (1+1)-CMA-ES

Wall-contact sliding control strategy for a 2D caged quadrotor

A bioinspired multi-modal flying and walking robot

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Euler Spring Collision Protection for Flying Robots

Optic-flow-based steering and altitude control for ultra-light indoor aircraft

Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots

A miniature 7g jumping robot

RoboCake: Baking Robotics Science and Culinary Art

Indoor Navigation with a Swarm of Flying Robots

Reverse-engineering of Artificially Evolved Controllers for Swarms of Robots

Insect Inspired Self-Righting for Fixed-Wing Drones

Method to determine a direction and amplitude of a current velocity estimate of a moving device

A Perching Mechanism for Micro Aerial Vehicles

A Variable Stiffness Catheter Controlled with an External Magnetic Field

A Drone with Insect-Inspired Folding Wings

Bioinspired Vision-based Microflyers

Data-Driven Personalization of Body-Machine Interfaces to Control Diverse Robot Types

Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control

Energy Management for Indoor Hovering Robots