Aerial Robotics

We are interested in the study, design, and control of agile aerial robots with rich sensory and motor abilities that can move and work in very different environments: open skies, confined environments, on the ground, on vertical surfaces, in swarms, and near humans. We take inspiration from nature, where these systems abound and translate biological mechanisms and principles into innovative machines and control systems.

Our work has also resulted in spin-offs, such as Sensefly (founded in 2009, now a Parrot group company) and Flyability (founded in 2015), which won the 2015 Drones for Good award.

 

2019

Learning Vision-based Flight in Drone Swarms by Imitation

F. Schilling; J. Lecoeur; F. Schiano; D. Floreano 

IEEE Robotics and Automation Letters. 2019-08-14. Vol. 4, num. 4, p. 4523-4530. DOI : 10.1109/LRA.2019.2935377.

Cross-Packet Coding for Delay-Constrained Streaming Applications

G. Cocco; D. Floreano 

IEEE Communications Letters. 2019-08-12. DOI : 10.1109/LCOMM.2019.2934684.

The current state and future outlook of rescue robotics

J. Delmerico; S. Mintchev; A. Giusti; B. Gromov; K. Melo et al. 

Journal of Field Robotics. 2019-08-07. Vol. 36, num. 7, p. 1171-1191. DOI : 10.1002/rob.21887.

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

D. Falanga; K. Kleber; S. Mintchev; D. Floreano; D. Scaramuzza 

Ieee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 209-216. DOI : 10.1109/LRA.2018.2885575.

Embodied Flight with a Drone

A. T. Cherpillod; S. Mintchev; D. Floreano 

2019. 2019 Third IEEE International Conference on Robotic Computing (IRC), Naples, Italy, February 25-27, 2019. DOI : 10.1109/IRC.2019.00070.

The influence of limited visual sensing on the Reynolds flocking algorithm

E. Soria; F. Schiano; D. Floreano 

2019. The Third IEEE International Conference on Robotic Computing, Naples, Italy, February 25-27, 2019. DOI : 10.1109/IRC.2019.00028.

2018

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

P. Bai; B. Guerreiro; R. Cunha; P. M. Kornatowski; D. Floreano et al. 

2018-10-17. 18th International Conference on Control, Automation, and Systems, PyeongChang, GangWon Province, Korea, October 17-20, 2018.

Spatial Encoding of Translational Optic Flow in Planar Scenes by Elementary Motion Detector Arrays

J. Lecoeur; E. Baird; D. Floreano 

Scientific Reports. 2018-04-11. Vol. 8, num. 1, p. 5821. DOI : 10.1038/s41598-018-24162-z.

Forceful manipulation with micro air vehicles

M. A. Estrada; S. Mintchev; D. L. Christensen; M. R. Cutkosky; D. Floreano 

Science Robotics. 2018. Vol. 3, num. 23, p. eaau6903. DOI : 10.1126/scirobotics.aau6903.

Last-Centimeter Personal Drone Delivery: Field Deployment and User Interaction

P. Kornatowski; S. Mintchev; D. Floreano 

IEEE Robotics and Automation Letters. 2018. Vol. 3, num. 4, p. 3813-3820. DOI : 10.1109/LRA.2018.2856282.

Bioinspired dual-stiffness origami

S. Mintchev; J. Shintake; D. Floreano 

Science Robotics. 2018. Vol. 3, num. 20. DOI : 10.1126/scirobotics.aau0275.

Data-driven body–machine interface for the accurate control of drones

J. C. Miehlbradt; A. T. Cherpillod; S. Mintchev; M. Coscia; F. Artoni et al. 

Proceedings of the National Academy of Sciences. 2018.  p. 201718648. DOI : 10.1073/pnas.1718648115.

A multi-modal hovering and terrestrial robot with adaptive morphology

S. Mintchev; D. Floreano 

2018. 2nd International Symposium on Aerial Robotics, Philadelphia, Pennsylvania, USA, June 11-12, 2018.

2017

Localization of emergency acoustic sources by micro aerial vehicles

M. Basiri; F. Schill; P. Lima; D. Floreano 

Journal of Field Robotics. 2017. Vol. 35, num. 2, p. 187-201. DOI : 10.1002/rob.21733.

Foldable Drones: from Biology to Technology

D. Floreano; S. Mintchev; J. Shintake 

2017. SPIE Bioinspiration, Biomimetics, and Bioreplication, Portland, Oregon, March 2017. p. 1016203-1-1016203-6. DOI : 10.1117/12.2259931.

Insect-Inspired Mechanical Resilience for Multicopters

S. Mintchev; S. D. de Rivaz; D. Floreano 

IEEE Robotics and Automation Letters. 2017. Vol. 2, p. 1248-1255. DOI : 10.1109/LRA.2017.2658946.

Bioinspired morphing wings for extended flight envelope and roll control of small drones

M. di Luca; S. Mintchev; G. H. M. Heitz; F. Noca; D. Floreano 

Interface Focus. 2017. Vol. 7, num. 1, p. 20160092. DOI : 10.1098/rsfs.2016.0092.

Human-Comfortable Collision Free Navigation for Personal Aerial Vehicles

N. Dousse; G. H. M. Heitz; F. S. Schill; D. Floreano 

IEEE Robotics and Automation Letter. 2017. Vol. 2, num. 1, p. 358-365. DOI : 10.1109/LRA.2016.2626520.

2016

Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots

X. Hou; R. Mahony; F. Schill 

Ieee Transactions On Systems Man Cybernetics-Systems. 2016. Vol. 46, num. 10, p. 1352-1363. DOI : 10.1109/Tsmc.2015.2503396.

A Pocket Sized Foldable Quadcopter for Situational Awareness and Reconnaissance

S. Mintchev; D. Floreano 

2016. International Symposium on Safety, Security and Rescue Robotics (SSRR 2016), Lausanne, Switzerland, October 23-27th, 2016. p. 396-401.

Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots

S. Mintchev; D. Floreano 

IEEE Robotics & Automation Magazine. 2016. Vol. 23, num. 3, p. 42-54. DOI : 10.1109/MRA.2016.2580593.

A Drone with Insect-Inspired Folding Wings

L. Dufour; K. Owen; S. Mintchev; D. Floreano 

2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Daejeon, Korea, October 9-14, 2016. p. 1576-1581.

On-Board Relative Bearing Estimation for Teams of Drones Using Sound

M. Basiri; F. S. Schill; P. Lima; D. Floreano 

IEEE Robotics and Automation Letters. 2016. Vol. 1, num. 2, p. 820-827. DOI : 10.1109/LRA.2016.2527833.

Fixed-wing drones for communication networks

M. Varga / D. Floreano (Dir.)  

Lausanne, EPFL, 2016. 

Functional Soft Robotic Actuators Based on Dielectric Elastomers

J. Shintake / D. Floreano; H. Shea (Dir.)  

Lausanne, EPFL, 2016. 

Dynamic Routing for Flying Ad Hoc Networks

S. Rosati; K. Kruzelecki; G. H. M. Heitz; D. Floreano; B. Rimoldi 

IEEE Transaction on Vehicular Technology. 2016. Vol. 65, num. 3, p. 1690-1700. DOI : 10.1109/TVT.2015.2414819.

2015

A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environments

A. Briod; J-C. Zufferey; D. Floreano 

Autonomous Robots. 2015. DOI : 10.1007/s10514-015-9494-4.

Extension of a Ground Control Interface for Swarms of Small Drones

N. Dousse; G. H. M. Heitz; D. Floreano 

2015. SWARM 2015: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japon, October 28-30, 2015.

Distributed Formation Control of Fixed Wing Micro Aerial Vehicles for Uniform Area Coverage

M. Varga; M. Basiri; G. H. M. Heitz; D. Floreano 

2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany,

Evaluation of control strategies for fixed-wing drones following slow-moving ground agents

M. Varga; J-C. Zufferey; G. H. M. Heitz; D. Floreano 

Robotics and Autonomous Systems. 2015. DOI : 10.1016/j.robot.2015.06.003.

Adaptive Morphology for Multi-Modal Locomotion

L. Daler / D. Floreano; A. Ijspeert (Dir.)  

Lausanne, EPFL, 2015. 

Science, technology and the future of small autonomous drones

D. Floreano; R. J. Wood 

Nature. 2015. Vol. 521, p. 460-466. DOI : 10.1038/nature14542.

Foldable and Self-Deployable Pocket Sized Quadrotor

S. Mintchev; L. Daler; G. L’Eplattenier; L. Saint-Raymond; D. Floreano 

2015. 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, Washington, USA, May 26-30, 2015.

Performance analysis of jump-gliding locomotion for miniature robotics

A. Vidyasagar; J-C. Zufferey; D. Floreano; M. Kovac 

Bioinspiration & Biomimetics. 2015. Vol. 10, p. 025006. DOI : 10.1088/1748-3190/10/2/025006.

Audio-based Positioning and Target Localization for Swarms of Micro Aerial Vehicles

M. Basiri / D. Floreano; P. M. U. De Almeida Lima (Dir.)  

Lausanne, EPFL, 2015. 

A bioinspired multi-modal flying and walking robot

L. Daler; S. Mintchev; C. Stefanini; D. Floreano 

Bioinspiration & Biomimetics. 2015. Vol. 10, num. 1, p. 016005. DOI : 10.1088/1748-3190/10/1/016005.

A Foldable Antagonistic Actuator

J. Shintake; S. Rosset; B. E. Schubert; D. Floreano; H. Shea 

IEEE/ASME Transactions on Mechatronics. 2015. Vol. 20, num. 5, p. 1997-2008. DOI : 10.1109/TMECH.2014.2359337.

2014

Vertical take-off and landing aerial vehicle

A. Briod; P. M. Kornatowski; A. Klaptocz; J-C. Zufferey; D. Floreano 

PL3024726; EP3347268; CN108137152; AU2016319276; EP3024726; CN105164015; JP6224234; ES2633217; US9725170; EP2813428; US9611032; WO2017042354; JP2016523759; EP3024726; US2016001875; US2015360776; CN105164015; AU2014280222; WO2014198774; EP2813428.

2014.

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

A. Briod; J-c. Zufferey; D. Floreano 

US2015293138; EP2917693; WO2014072377; EP2730888.

2014.

Curved artificial compound-eyes for autonomous navigation

R. Leitel; A. Brückner; W. Buss; S. Viollet; R. Pericet Camara et al. 

2014. Micro-Optics, Brussels, Belgium, APR 14-16, 2014. DOI : 10.1117/12.2052710.

Miniature artificial compound eyes for optic-flow-based robotic navigation

R. Pericet Camara; G. Bahi Vila; J. Lecoeur; D. Floreano 

2014. Workshop on Information Optics WIO2014, Neuchatel, Switzerland, July 7-11, 2014. p. 1-3. DOI : 10.1109/WIO.2014.6933290.

Audio-based Localization for Swarms of Micro Air Vehicles

M. Basiri; F. S. Schill; D. Floreano; P. Lima 

2014. IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 – June 7, 2014. p. 4729-4734. DOI : 10.1109/ICRA.2014.6907551.

A Collision Resilient Flying Robot

A. Briod; P. M. Kornatowski; J-C. Zufferey; D. Floreano 

Journal of Field Robotics. 2014. Vol. 31, num. 4, p. 469-509. DOI : 10.1002/rob.21495.

2013

Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems

M. Basiri; F. Schill; D. Floreano; P. Lima 

2013. Robotics: Science and Systems RSS2013, Berlin, Germany, June 24-28, 2013.

Optic-Flow Based Control of a 46g Quadrotor

A. Briod; J-C. Zufferey; D. Floreano 

2013. Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, IROS 2013, Tokyo, Japan, November 7, 2013.

Euler Spring Collision Protection for Flying Robots

A. Klaptocz; A. Briod; L. Daler; J-C. Zufferey; D. Floreano 

2013. International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013.

A Flying Robot with Adaptive Morphology for Multi-Modal Locomotion

L. Daler; J. Lecoeur; P. B. Hählen; D. Floreano 

2013. IROS 13, Tokyo, Japan, November 3-6, 2013. p. 1361-1366.

Contact-based navigation for an autonomous flying robot

A. Briod; P. M. Kornatowski; A. Klaptocz; A. Garnier; M. Pagnamenta et al. 

2013. International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013. p. 3987-3992.

Testbed for Fast-Deployable Flying WiFi Networks

S. Rosati; B. Rimoldi; K. Kruzelecki; A. jimenez-Pacheco; D. Floreano et al. 

2013. FOURTH NORDIC WORKSHOP ON SYSTEM AND NETWORK OPTIMIZATION FOR WIRELESS, Kittila, Finland, 2013.

Miniature curved artificial compound eyes

D. Floreano; R. Pericet Camara; S. Viollet; F. Ruffier; A. Brückner et al. 

PNAS. 2013. Vol. 110, num. 23, p. 9332-9337. DOI : 10.1073/pnas.1219068110.

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

S. Hauert; S. Leven; J-C. Zufferey; D. Floreano 

2013. 10th International Symposium on Distributed Autonomous Robotic Systems. p. 281-293.

Energy-Time Efficiency in Aerial Swarm Deployment

T. Stirling; D. Floreano 

2013. 10th International Symposium on Distributed Autonomous Robotic Systems. p. 5-18.

Evolution of division of labor in artificial societies

P. Lichocki / D. Floreano; L. Keller (Dir.)  

Lausanne, EPFL, 2013. 

Representation of Vehicle Dynamics in Haptic Teleoperation of Aerial Robots

X. Hou; R. Mahony; F. S. Schill 

2013. IEEE International Conference on Robotics and Automation, Karlsruhe, May 6-10, 2013.

A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive

L. Daler; A. Klaptocz; A. Briod; M. Sitti; D. Floreano 

2013. ICRA 13, Karlsruhe, May 6-7, 2013.

Swarmanoid: a novel concept for the study of heterogeneous robotic swarms

M. Dorigo; D. Floreano; L. Gambardella; F. Mondada; S. Nolfi et al. 

IEEE Robotics & Automation Magazine. 2013. Vol. 20, num. 4, p. 60-71. DOI : 10.1109/MRA.2013.2252996.

2012

Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles

M. Basiri; F. S. Schill; P. Lima U.; D. Floreano 

2012. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, October 7-12, 2012.. p. 4737-4742.

Implementation of a Wireless Mesh Network of Ultra Light MAVs with Dynamic Routing

A. Jimenez Pacheco; D. Bouhired; Y. Gasser; J-C. Zufferey; D. Floreano et al. 

2012. IEEE GLOBECOM 2012, 3rd International IEEE Workshop on Wireless Networking & Control for Unmanned Autonomous Vehicles 2012, Anaheim, California, USA, December 3-7, 2012.

Design of Flying Robots for Collision Absorption and Self-Recovery

A. Klaptocz / D. Floreano; J-C. Zufferey (Dir.)  

Lausanne, EPFL, 2012. 

Indoor Navigation with a Swarm of Flying Robots

T. Stirling; J. Roberts; J-C. Zufferey; D. Floreano 

2012. IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, USA, May 14-18, 2012.

The AirBurr: A Flying Robot That Can Exploit Collisions

A. Briod; A. Klaptocz; J-C. Zufferey; D. Floreano 

2012. International Conference on Complex Medical Engineering (CME), 2012 ICME, Kobe, Japan, July 1-4, 2012. p. 569-574. DOI : 10.1109/ICCME.2012.6275674.

Automatically calibrating the viewing direction of optic-flow sensors

A. Briod; J-C. Zufferey; D. Floreano 

2012. Robotics and Automation (ICRA), 2012 IEEE International Conference on, St-Paul, Minnesota, USA, May 14-18, 2012. p. 3956-3961. DOI : 10.1109/ICRA.2012.6225011.

An Active Uprighting Mechanism for Flying Robots

A. Klaptocz; L. Daler; A. Briod; J-C. Zufferey; D. Floreano 

IEEE Transactions on Robotics. 2012. Vol. 28, num. 5, p. 1152 -1157. DOI : 10.1109/TRO.2012.2201309.

2011

myCopter – Enabling Technologies for Personal Aerial Transportation Systems

F. M. Nieuwenhuizen; M. Jump; M. White; P. Perfect; P. Padfield et al. 

2011. International HELI World Conference, Frankfurt/Main, Germany, 2011.

myCopter – Enabling Technologies for Personal Aerial Transportation Systems.

M. Jump; P. Perfect; G. D. Padfield; M. D. White; D. Floreano et al. 

2011. European Rotorcraft Forum, Vergiate/Gallarate, Italy, September 13-15, 2011.

CURVACE – CURVed Artificial Compound Eyes

R. Pericet Camara; M. Dobrzynski; G. L’Eplattenier; J-C. Zufferey; F. Expert et al. 

2011. 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), Budapest, Hungary, May 4-6, 2011. p. 308-309. DOI : 10.1016/j.procs.2011.09.040.

The EPFL jumpglider: A hybrid jumping and gliding robot with rigid or folding wings

M. Kovac; W. Hraiz; O. Fauria Torrent; J-C. Zufferey; D. Floreano 

2011. IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand, December 7-11, 2011.

Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate

S. Hauert; S. Leven; M. Varga; F. Ruini; A. Cangelosi et al. 

2011. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2011), San Francisco, September 25-30, 2011.

Aerial Locomotion in Cluttered Environments

D. Floreano; J-C. Zufferey; A. Klaptocz; J. M. Germann; M. Kovac 

2011. 15th International Symposium on Robotics Research, Flagstaff, Arizona, USA, August 28-September 1, 2011.

The Accuracy of Automatic Photogrammetric Techniques on Ultra-light UAV Imagery

O. Küng; C. Strecha; A. Beyeler; J-C. Zufferey; D. Floreano et al. 

2011. UAV-g 2011 – Unmanned Aerial Vehicle in Geomatics, Zürich, CH, September 14-16, 2011.

myCopter: Enabling Technologies for Personal Air Transport Systems

M. Jump; P. Padfield; M. White; D. Floreano; P. Fua et al. 

2011. RAeS Rotorcraft Conference: The Future Rotorcraft – Enabling Capability Through the Application of Technology, London, UK, 15-16th June 2011.

Enabling Collective Operation of Indoor Flying Robots

J. Roberts / D. Floreano; J-C. Zufferey (Dir.)  

Lausanne, EPFL, 2011. 

Energy-Efficient Indoor Search by Swarms of Flying Robots without Global Information

T. Stirling / D. Floreano (Dir.)  

Lausanne, EPFL, 2011. 

Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics

S. Leven / D. Floreano; J-C. Zufferey (Dir.)  

Lausanne, EPFL, 2011. 

Dealing with Mid-Air Collisions in Dense Collective Aerial Systems

S. Leven; J-C. Zufferey; D. Floreano 

Journal of Field Robotics. 2011. Vol. 28, num. 3, p. 405-423. DOI : 10.1002/rob.20385.

2010

Review of Light-weight Payloads for MAVs and Experiments with Thermopiles

A. Briod 

2010

Energy Efficient Swarm Deployment for Search in Unknown Environments

T. Stirling; D. Floreano 

2010. 7th International Conference on Swarm Intelligence, Brussels, BELGIUM, Sep 08-10, 2010. p. 562-563.

Thermal soaring flight of birds and unmanned aerial vehicles

Z. Akos; N. Mate; S. Leven; T. Vicsek 

Bioinspiration and Biomimetics. 2010. Vol. 5, num. 4, p. 1-12. DOI : 10.1088/1748-3182/5/4/045003.

Insect Vision: A Few Tricks to Regulate Flight Altitude

D. Floreano; J-C. Zufferey 

Current Biology. 2010. Vol. 20, num. 19, p. R847-R849. DOI : 10.1016/j.cub.2010.08.022.

Energy-Time Efficiency in Aerial Swarm Deployment

T. Stirling; D. Floreano 

2010. 10th International Symposium on Distributed Autonomous Robotics Systems., EPFL, Lasuaance, Switzerland, November 1-3, 2010.

Evolutionary Synthesis of Communication-Based Aerial Swarms

S. Hauert / D. Floreano; J-C. Zufferey (Dir.)  

Lausanne, EPFL, 2010. 

Beat-based synchronization and steering for groups of fixed-wing flying robots

S. Hauert; S. Leven; J-C. Zufferey; D. Floreano 

2010. International Symposium on Distributed Autonomous Robotics Systems, Lausanne, Switzerland, November 1-3, 2010.

Energy Efficient Swarm Deployment for Search in Unknown Environments

T. Stirling; D. Floreano 

2010. 7th International Conference on Swarm Intelligence (ANTS 2010), Brussels, Belgium, September 8-10th 2010. p. 562-563. DOI : 10.1007/978-3-642-15461-4_61.

A Perching Mechanism for Micro Aerial Vehicles

M. Kovac; J. M. Germann; C. Hürzeler; R. Siegwart; D. Floreano 

Journal of Micro-Nano Mechatronics. 2010. Vol. 5, num. 3-4, p. 77-91. DOI : 10.1007/s12213-010-0026-1.

Communication-based Swarming for Flying Robots

S. Hauert; S. Leven; J-C. Zufferey; D. Floreano 

2010. IEEE International Conference on Robotics and Automation, Workshop on Network Science and Systems Issues in Multi-Robot Autonomy, Anchorage, Alaska, May 7, 2010.

Energy-Efficient Indoor Search by Swarms of Simulated Flying Robots Without Global Information

T. Stirling; S. Wischmann; D. Floreano 

Swarm Intelligence. 2010. Vol. 4, num. 2, p. 117-144. DOI : 10.1007/s11721-010-0039-3.

Communication-based Leashing of Real Flying Robots

S. Hauert; S. Leven; J-C. Zufferey; D. Floreano 

2010. IEEE International Conference on Robotics and Automation (ICRA2010). p. 15-20.

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

J-C. Zufferey; A. Beyeler; D. Floreano 

2010. IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010.

An Indoor Flying Platform with Collision Robustness and Self-Recovery

A. Klaptocz; G. Boutinard Rouelle; A. Briod; J-C. Zufferey; D. Floreano 

2010. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, US, May 3-8, 2010. p. 3349-3354. DOI : 10.1109/ROBOT.2010.5509338.

2009

How to control MAVs in cluttered environments?

J-C. Zufferey; A. Beyeler; D. Floreano 

2009. Workshop on Micro Aerial Vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2009), St-Louis, October 11-15.

optiPilot: control of take-off and landing using optic flow

A. Beyeler; J-C. Zufferey; D. Floreano 

2009. European Micro Air Vehicle conference and competition 2009 (EMAV ’09), Delft, Netherland, September 14-17, 2009.

A Minimalist Control Strategy for Small UAVs

S. Leven; J-C. Zufferey; D. Floreano 

2009. 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), St. Louis, October 11-15, 2009. p. 2873-2878.

A Miniature Jumping Robot with Self-Recovery Capabilities

M. Kovac; M. Schlegel; J-C. Zufferey; D. Floreano 

2009. IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, October 11-15, 2009. p. 583-588.

Vision-based control of near-obstacle flight

A. Beyeler; J-C. Zufferey; D. Floreano 

Autonomous Robots. 2009. Vol. 27, num. 3, p. 201-219. DOI : 10.1007/s10514-009-9139-6.

Vision-based control of near-obstacle flight

A. Beyeler / D. Floreano; J-C. Zufferey (Dir.)  

Lausanne, EPFL, 2009. 

Methods for Artificial Evolution of Truly Cooperative Robots

L. Keller; D. Floreano 

2009. International Workshop on Artificial Neural Network 2009, Salamanca, Spain, June 10-12, 2009. p. 768-772. DOI : 10.1007/978-3-642-02478-8_96.

Evolved swarming without positioning information: an application in aerial communication relay

S. Hauert; J-C. Zufferey; D. Floreano 

Autonomous Robots. 2009. Vol. 26, num. 1, p. 21-32. DOI : 10.1007/s10514-008-9104-9.

2008

A time-of-travel motion detection chip for steering autonomous robots

R. Moeckel; S-C. Liu 

2008. Workshop on visual guidance systems for small autonomous aerial vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2008), Nice, 22 September 2008.

Near-obstacle flight with small UAVs

J-C. Zufferey; A. Beyeler; D. Floreano 

2008. UAV’2008, Orlando, June 23-25, 2008.

Optic flow to control small UAVs

J-C. Zufferey; A. Beyeler; D. Floreano 

2008. Workshop on visual guidance systems for small autonomous aerial vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2008), Nice, 22 September 2008.

Ishtar: a flexible and lightweight software for remote data access

A. Beyeler; S. Magnenat; A. Habersaat 

2008. European Micro Air Vehicle Conference EMAV08, Braunschweig, Germany, July 8-10, 2008.

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

M. Kovac; J-C. Zufferey; D. Floreano 

2008. 4th International Symposium on Adaptive Motion of Animals and Machines, Cleveland, Ohio, USA, June 1-6, 2008. p. 41-42.

Energy Management for Indoor Hovering Robots

J. F. Roberts; J-C. Zufferey; D. Floreano 

2008. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2008), Nice, France, September 22-26, 2008.

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

S. Hauert; L. Winkler; J-C. Zufferey; D. Floreano 

Swarm Intelligence. 2008. Vol. 2, num. 2-4, p. 167-188. DOI : 10.1007/s11721-008-0013-5.

Visual autopilot for near-obstacle flight

J-C. Zufferey; A. Beyeler; D. Floreano 

PL2274658; ES2389549; EP2274658; US2011029161; EP2274658; WO2009127907.

2008.

A miniature 7g jumping robot

M. Kovac; M. Fuchs; A. Guignard; J-C. Zufferey; D. Floreano 

2008. IEEE International Conference on Robotics and Automation (ICRA’2008), Pasadena, California, May 19-23, 2008. p. 373-378. DOI : 10.1109/ROBOT.2008.4543236.

2007

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

M. Kovac; G. Savioz; J-C. Zufferey; D. Floreano; D. Floreano et al. 

2007. International Symposium on Flying Insects and Robots, Monte Verita, Ascona, Switzerland, August 12-17, 2007. p. 61-62.

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

S. Leven; J-C. Zufferey; D. Floreano 

2007. International Symposium on Flying Insects and Robots, Monte Verità, Locarno, Switzerland, August 12-17, 2007. p. 69-70.

Quadrotor Using Minimal Sensing For Autonomous Indoor Flight

J. F. Roberts; T. Stirling; J-C. Zufferey; D. Floreano 

2007. European Micro Air Vehicle Conference and Flight Competition (EMAV2007), Toulouse, France, 17-21 September 2007,.

Insect-inspired Autonomous Microflyer

J-C. Zufferey; A. Beyeler; D. Floreano 

2007. International Symposium on Flying Insects and Robots, Monte Verità, Switzerland, Monte Verità, Locarno, Switzerland, August 12-17. p. 133-134.

A 10-gram Vision-based Flying Robot

J-C. Zufferey; A. Klaptocz; A. Beyeler; J-D. Nicoud; D. Floreano 

Advanced Robotics. 2007. Vol. 21, num. 14, p. 1671-1684. DOI : 10.1163/156855307782227417.

Motion Detection Circuits for a Time-To-Travel Algorithm

R. Moeckel; S-C. Liu 

2007. IEEE International Symposium on Circuits and Systems (ISCAS), New Orleans, 27-30 May. p. 3079-3082.

3D Vision-based Navigation for Indoor Microflyers

A. Beyeler; J-C. Zufferey; D. Floreano 

2007. IEEE International Conference on Robotics and Automation (ICRA’07), Roma, Italy, April 10th-14th, 2007.

A 1.5g SMA-actuated Microglider looking for the Light

M. Kovac; A. Guignard; J-D. Nicoud; J-C. Zufferey; D. Floreano 

2007. IEEE International Conference on Robotics and Automation (ICRA’2007), Rome, Italy, 10-14.4.2007. p. 367-372. DOI : 10.1109/ROBOT.2007.363814.

2006

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

J-C. Zufferey; A. Guanella; A. Beyeler; D. Floreano 

Autonomous Robots. 2006. Vol. 21, num. 3, p. 243-254. DOI : 10.1007/s10514-006-9718-8.

A 10-gram Microflyer for Vision-based Indoor Navigation

J-C. Zufferey; A. Klaptocz; A. Beyeler; J-D. Nicoud; D. Floreano 

2006. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2006), Beijing, China, October 9-15. p. 3267-3272.

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

A. Beyeler; C. Mattiussi; J-C. Zufferey; D. Floreano 

2006. IEEE International Conference on Robotics and Automation (ICRA’06), Orlando, FL, May, 2006. p. 2836-2841.

Fly-inspired Visual Steering of an Ultralight Indoor Aircraft

J-C. Zufferey; D. Floreano 

IEEE Transactions on Robotics. 2006. Vol. 22, num. 1, p. 137-146. DOI : 10.1109/TRO.2005.858857.

2005

From Wheels to Wings with Evolutionary Spiking Neurons

D. Floreano; J-C. Zufferey; J-D. Nicoud 

Artificial Life. 2005. Vol. 11, num. 1-2, p. 121-138. DOI : 10.1162/1064546053278900.

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

J-C. Zufferey; D. Floreano 

2005. IEEE International Conference on Robotics and Automation (ICRA’2005), Barcelona, 18-22 April.

Bio-inspired vision-based flying robots

J-C. Zufferey / D. Floreano (Dir.)  

Lausanne, EPFL, 2005. 

2004

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

J-C. Zufferey; D. Floreano 

2004

2003

Evolving Spiking Neurons from Wheels to Wings

D. Floreano; J-C. Zufferey; C. Mattiussi 

2003. 3rd International Symposium on Human and Artificial Intelligence Systems (HART’2002), Fukui, Japan, December 6-7, 2002. p. 65-70.

Vision-based Navigation from Wheels to Wings

J-C. Zufferey; A. Beyeler; D. Floreano 

2003. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2003). p. 2968-2973.

2002

Evolving Vision-based Flying Robots

J-C. Zufferey; D. Floreano; M. van Leeuwen; T. Merenda 

2002. 2nd International Workshop on Biologically Motivated Computer Vision (BMCV’2002), Tübingen, November 22 – 24. p. 592-600.