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Jean-Christophe Zufferey

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Publications associées (61)

Near-obstacle flight with small UAVs

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

Autonomous flight in confined or cluttered environments such as houses or urban canyons requires high manoeuvrability, fast mapping from sensors to actuators and very limited overall system weight. Although flying animals are well capable of solving this p ...

Springer Verlag2008

Visual autopilot for near-obstacle flight

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

This present invention describes a novel vision-based control strategy for autonomous cruise flight in possibly cluttered environments such as – but not limited to - cities, forests, valleys, or mountains. ...

2008

A miniature 7g jumping robot

Jean-Christophe Zufferey, André Guignard, Dario Floreano, Martin Fuchs, Mirko Kovac

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 ...

2008

Ant-based Swarming with Positionless Micro Air Vehicles for Communication Relay

Jean-Christophe Zufferey, Dario Floreano, Sabine Hauert, Laurent Winkler

Swarming without positioning information is interesting in application- oriented systems because it alleviates the need for sensors which are dependent on the environment, expensive in terms of energy, cost, size and weight, or unusable at useful ranges fo ...

2008

Towards the Self Deploying Microglider, a biomimetic jumping and gliding robot

Jean-Christophe Zufferey, Dario Floreano, Mirko Kovac

2008

Insect-inspired Autonomous Microflyer

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

2007

A Simple and Robust Fixed-Wing Platform for Outdoor Flying Robot Experiments

Jean-Christophe Zufferey, Dario Floreano, Severin Leven

Aerial Robotics are interesting and useful tools because they have some intrinsic advantages over ground and water based systems, like the possibility to observe things from above or to locomote without being perturbed by obstacles and rough terrain. Howev ...

2007

3D Vision-based Navigation for Indoor Microflyers

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

Fully autonomous control of ultra-light indoor airplanes has not yet been achieved because the strong limitations on the kind of sensors that can be embedded make it difficult to obtain good estimations of altitude. We propose to revisit altitude control b ...

2007

A 10-gram Vision-based Flying Robot

Jean-Christophe Zufferey, Jean-Daniel Nicoud, Dario Floreano, Antoine Beyeler, Adam Klaptocz

We aim at developing ultralight autonomous microflyers capable of freely flying within houses or small built environments while avoiding collisions. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the ...

2007

Quadrotor Using Minimal Sensing For Autonomous Indoor Flight

Jean-Christophe Zufferey, Dario Floreano, James Roberts, Timothy Stirling

This paper presents a Miniature Aerial Vehicle (MAV) capable of hands-off autonomous operation within indoor environments. Our prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stabi ...

2007

Towards the Self Deploying Microglider; Gliding Flight and Bioinspired Wing Folding Mechanism

Jean-Christophe Zufferey, Dario Floreano, Grégory Savioz, Mirko Kovac

The Self Deploying Microglider project aims at developing a novel palm sized robot that can climb up walls, deploy itself into the air, recover from every position in air and perform subsequent goal directed gliding and attachment to walls. So far, we deve ...

2007

A 1.5g SMA-actuated Microglider looking for the Light

Jean-Christophe Zufferey, André Guignard, Jean-Daniel Nicoud, Dario Floreano, Mirko Kovac

Unpowered flight can be used in microrobotics to overcome ground obstacles and to increase the traveling distance per energy unit. In order to explore the potential of goal-directed gliding in the domain of miniature robotics, we developed a 22cm microglid ...

Ieee Service Center2007

Evolutionary Swarms of Flying Robots

Jean-Christophe Zufferey, Dario Floreano, Sabine Hauert, Severin Leven

2007

Vision-based Altitude and Pitch Estimation for Ultra-light Indoor Microflyers

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler, Claudio Mattiussi

Autonomous control of ultra-light indoor microflyers is a difficult and largely unsolved task because of the strong limitations on the kind of sensors that can be embedded. We propose a new approach for altitude control of a 10-gram microflyer, where altit ...

2006

Evolution of Spiking Neural Circuits in Autonomous Mobile Robots

Jean-Christophe Zufferey, Dario Floreano, Claudio Mattiussi

We describe evolution of spiking neural architectures to control navigation of autonomous mobile robots. Experimental results with simple fitness functions indicate that evolution can rapidly generate spiking circuits capable of navigating in textured envi ...

2006

Flying over the Reality Gap: From Simulated to Real Indoor Airships

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

Because of their ability to naturally float in the air, indoor airships (often called blimps) constitute an appealing platform for research in aerial robotics. However, when confronted to long lasting experiments such as those involving learning or evoluti ...

2006

A 10-gram Microflyer for Vision-based Indoor Navigation

Jean-Christophe Zufferey, Jean-Daniel Nicoud, Dario Floreano, Antoine Beyeler, Adam Klaptocz

We aim at developing ultralight autonomous microflyers capable of navigating within houses or small built environments. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the necessary electronics for air ...

IEEE2006

Fly-inspired Visual Steering of an Ultralight Indoor Aircraft

Jean-Christophe Zufferey, Dario Floreano

We aim at developing autonomous micro-flyers capable of navigating within houses or small indoor environments using vision as principal source of information. Due to severe weight and energy constraints, inspiration is taken from the fly for the selection ...

2006

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

Jean-Christophe Zufferey, Dario Floreano

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 ...

2005

Bio-inspired vision-based flying robots

Jean-Christophe Zufferey

There are not yet autonomous flying robots capable of manoeuvring in small cluttered environments as insects do. Encouraged by this observation, this thesis presents the development of ultra-light flying robots and control systems going one step toward ful ...

EPFL2005

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