5 papers
MonoRace: Winning Champion-Level Drone Racing with Robust Monocular AI
Stavrow A. Bahnam, Robin Ferede, Till M. Blaha +6
Autonomous drone racing represents a major frontier in robotics research. It requires an Artificial Intelligence (AI) that can run on board light-weight flying robots under tight r…
Artificial Microsaccade Compensation: Stable Vision for an Ornithopter
Levi Burner, Guido de Croon, Yiannis Aloimonos
Animals with foveated vision, including humans, experience microsaccades, small, rapid eye movements that they are not aware of. Inspired by this phenomenon, we develop a method fo…
Breaking the Circle: An Autonomous Control-Switching Strategy for Stable Orographic Soaring in MAVs
Sunyou Hwang, Christophe De Wagter, Bart Remes +1
Orographic soaring can significantly extend the endurance of micro aerial vehicles (MAVs), but circling behavior, arising from control conflicts between the longitudinal and vertic…
All Eyes, no IMU: Learning Flight Attitude from Vision Alone
Jesse J. Hagenaars, Stein Stroobants, Sander M. Bohte +1
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavil…
Neuromorphic Attitude Estimation and Control
Stein Stroobants, Christophe de Wagter, Guido C. H. E. De Croon
The real-world application of small drones is mostly hampered by energy limitations. Neuromorphic computing promises extremely energy-efficient AI for autonomous flight but is stil…