Publications associées à A 10-gram Vision-based Flying Robot

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Jan Skaloud, Gabriel François Laupré

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

2023

Dielectric Actuation Techniques at the Nanoscale: Piezoelectricity and Flexoelectricity

Kaitlin Marie Howell

Micro- and nanoelectromechanical systems (MEMS/NEMS) have long shown their potential to disrupt the established technologies. Over the past 15 years, MEMS have become fundamental components in filters, accelerometers, gyroscopes and gas sensors. MEMS are n ...

EPFL2019

Low-Complexity Optimization-Based Control: Design, Methods and Applications

Ivan Pejcic

Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...

EPFL2019

Unidirectional isolator-free 2 micron fiber lasers

Svyatoslav Kharitonov

This thesis presents results of a research on unidirectional isolator-free cavity lasers, exploiting thulium-doped fiber (TDF) as amplification medium and operating in \unit[2]{\mu m} wavelength range. For fibre ring resonator, an optical isolator should b ...

EPFL2017

Accurate Angular Velocity Estimation with an Event Camera

Davide Scaramuzza

We present an algorithm to estimate the rotational motion of an event camera. In contrast to traditional cameras, which produce images at a fixed rate, event cameras have independent pixels that respond asynchronously to brightness changes, with microsecon ...

2017

A Novel Approach to Reducing Number of Sensing Units for Wearable Gait Analysis Systems

Kamiar Aminian, Arash Salarian, Brigitte Jolles-Haeberli

Gait analysis methods to estimate spatiotemporal measures, based on two, three or four gyroscopes attached on lower limbs have been discussed in the literature. The most common approach to reduce the number of sensing units is to simplify the underlying bi ...

Institute of Electrical and Electronics Engineers2013

Autonomous flight at low altitude using light sensors and little computational power

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

The ability to fly at low altitude while actively avoiding collisions with the terrain and objects such as trees and buildings is a great challenge for small unmanned aircraft. This paper builds on top of a control strategy called optiPilot whereby a serie ...

2010

Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

The ability to fly at low altitude while actively avoiding collisions with the terrain and other objects is a great challenge for small unmanned aircraft. This paper builds on top of a control strategy called optiPilot whereby a series of optic-flow detect ...

IEEE2010

Vision-based control of near-obstacle flight

Antoine Beyeler

Lightweight micro unmanned aerial vehicles (micro-UAVs) capable of autonomous flight in natural and urban environments have a large potential for civil and commercial applications, including environmental monitoring, forest fire monitoring, homeland securi ...

EPFL2009

A Minimalist Control Strategy for Small UAVs

Jean-Christophe Zufferey, Dario Floreano, Severin Leven

Most autopilots of existing Miniature Unmanned Air Vehicles (MUAVs) rely on control architectures that typically use a large number of sensors (gyros, accelerometers, magnetometers, GPS) and a computationally demanding estimation of flight states. As a con ...

IEEE2009

Vision-based control of near-obstacle flight

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

This paper presents a novel control strategy, which we call optiPilot, for autonomous flight in the vicinity of obstacles. Most existing autopilots rely on a complete 6-degree-of-freedom state estimation using a GPS and an Inertial Measurement Unit (IMU) a ...

2009

Two degrees of freedom miniaturized gyroscope based on active magnetic bearings

Thomas Bosgiraud

The introduction of the active blocking system, better known as ABS, into cars revealed the growing need for inertial sensing. Among other data, that permit to apprehend the movements of a vehicle, the measurement of the vehicle angular velocity describes ...

EPFL2008

Improvement of Orientation Estimation in Pedestrian Navigation by Compensation of Magnetic Disturbances

Okan Yalak, Phillip Tomé

Over the last few years there has been a growing interest in the domain of pedestrian navigation, stimulated by the increasing demand for Location Based Services. Pedestrian Dead Reckoning (PDR) based on MEMS sensors has been at the heart of most high-end ...

2008

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

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

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

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