Publications associées à Vision-based control of near-obstacle flight

Accurate and agile flight with winged drones

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

An Ultralow-Power Triaxial MEMS Accelerometer With High-Voltage Biasing and Electrostatic Mismatch Compensation

Yimai Peng, Li Xu, Kyojin Choo

This article presents a triaxial micro electromechani-cal system (MEMS) capacitive accelerometer using a high-voltage biasing technique to achieve high resolution with ultralow power. The accelerometer system generates a differential pair of high voltages ...

Ieee-Inst Electrical Electronics Engineers Inc2024

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

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Gabriel François Laupré

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun, Kyriaki Mouzakidou

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

2024

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Alexander Gehrke

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

EPFL2023

Wing and tail morphing in birds and drones

Enrico Ajanic

To aid humans in civilian tasks, future drones will have to operate in large cities that abound with difficult flight conditions such as confined spaces, obstacles, and turbulent air. Such drones must cruise efficiently to cover vast distances fast and als ...

EPFL2023

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

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

2023

Burst Vision Using Single-Photon Cameras

Edoardo Charbon, Paul Mos, Mohit Gupta

Single-photon avalanche diodes (SPADs) are novel image sensors that record the arrival of individual photons at extremely high temporal resolution. In the past, they were only available as single pixels or small-format arrays, for various active imaging ap ...

IEEE COMPUTER SOC2023

Wind Defiant Morphing Drones

Dario Floreano, Victor Casas Rochel, Nathan Samuel Müller, Charalampos Vourtsis, William John Stewart

Intense winds are a challenge for vertical take-off and landing drones with wings. In particular, in the hovering regime, wings are sensitive to wind currents that can be detrimental to their operational and energetic performances. Tail-sitters are particu ...

2023

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Petr Listov

This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

EPFL2022

Bioinspired Soft Bendable Peristaltic Pump Exploiting Ballooning for High Volume Throughput

Josephine Anna Eleanor Hughes

Interest in bioinspired peristaltic pumps has grown in popularity among the scientific community in the last decade thanks to their extreme flexibility and their intrinsic compliance. In this paper, we propose a soft peristaltic pump exploiting ballooning. ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data

Jan Skaloud, Davide Antonio Cucci, Kyriaki Mouzakidou

In airborne laser scanning a high-frequency trajectory solution is typically determined from inertial sensors and employed to directly geo-reference the acquired laser points. When low-cost MEMS inertial sensors are used, such as in lightweight unmanned ae ...

2022

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

Gabriel François Laupré

The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

An Inertial Uni-Axial Interferometer-Based Accelerometer for Harsh Environments

Mark Edward John Butcher, Gerard Aliana Cervera

For high-impact devices, subsequent vibrations have as much influence on the deterioration of the mechanical structure as the impact itself. To mitigate the consequences of both impacts and resulting vibrations, it is crucial to accurately understand the p ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Human Head Yaw Estimation based on Two 3-axis Accelerometers

Hervé Lissek, Gilles André Courtois, Vincent Pierre Olivier Grimaldi

The estimation of the orientation of an object, and a human head in particular, can be defined by the Euler angles: the yaw, pitch and roll. The robust and drift-free estimation of those angles is usually achieved with the data from several sensors such as ...

2022

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

Mahdi Hamidi Rad

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

EPFL2022

Micro 3D printing of a functional MEMS accelerometer

Göran Stemme, Luis Guillermo Villanueva Torrijo, Damien Maillard, Simone Pagliano

Microelectromechanical system (MEMS) devices, such as accelerometers, are widely used across industries, including the automotive, consumer electronics, and medical industries. MEMS are efficiently produced at very high volumes using large-scale semiconduc ...

SPRINGERNATURE2022