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.
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.
Resilient drones with morphing wingsLausanne, EPFL, 2023.
Wing and tail morphing in birds and dronesLausanne, EPFL, 2023.
Reconfigurable Drone System for Transportation of Parcels With Variable Mass and SizeIEEE Robotics And Automation Letters. 2022-10-01. Vol. 7, num. 4, p. 12150-12157. DOI : 10.1109/LRA.2022.3208716.
On the Scalability of Vision-based Drone Swarms in the Presence of OcclusionsIEEE Access. 2022-03-10. Vol. 10, p. 1-14. DOI : 10.1109/ACCESS.2022.3158758.
How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed GraspingIEEE/ASME Transactions on Mechatronics. 2022-01-31. p. 1-9. DOI : 10.1109/TMECH.2022.3143095.
Vision-based Flocking in Aerial Robot SwarmsLausanne, EPFL, 2022.
Model Predictive Control of Aerial SwarmsLausanne, EPFL, 2022.
Autonomous Detection and Deterrence of Pigeons on Buildings by DronesIEEE Access. 2022. Vol. 10, p. 1745-1755. DOI : 10.1109/ACCESS.2021.3137031.
Distributed Predictive Drone Swarms in Cluttered EnvironmentsIEEE Robotics and Automation Letters. 2022. Vol. 7, num. 1, p. 73-80. DOI : 10.1109/LRA.2021.3118091.
Passive Perching with Energy Storage for Winged Aerial RobotsAdvanced Intelligent Systems. 2021-11-21. p. 2100150. DOI : 10.1002/aisy.202100150.
VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic EnvironmentsIEEE Robotics and Automation Letters. 2021-03-15. Vol. 6, num. 2, p. 1343-1350. DOI : 10.1109/LRA.2021.3058073.
Vision-based Drone Flocking in Outdoor EnvironmentsIEEE Robotics and Automation Letters. 2021-02-25. Vol. 6, num. 2, p. 2954-2961. DOI : 10.1109/LRA.2021.3062298.
Tracking and Relative Localization of Drone Swarms With a Vision-Based HeadsetIEEE Robotics and Automation Letters. 2021-01-14. Vol. 6, num. 2, p. 1455-1462. DOI : 10.1109/LRA.2021.3051565.
Bioinspired wing and tail morphing extends drone flight capabilitiesScience Robotics. 2020-10-28. Vol. 5, num. 47, p. eabc2897. DOI : 10.1126/scirobotics.abc2897.
Downside Up:Rethinking Parcel Position for Aerial DeliveryIEEE Robotics and Automation Letters. 2020-05-11. Vol. 5, num. 3, p. 4297-4304. DOI : 10.1109/LRA.2020.2993768.
A Morphing Cargo Drone for Safe Flight in Proximity of HumansIEEE Robotics and Automation Letters. 2020-05-11. Vol. 5, num. 3, p. 4233-4240. DOI : 10.1109/LRA.2020.2993757.
SwarmLab: a MATLAB Drone Swarm Simulator2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA (but held online), Octobre 25-29, 2020. p. 8005-8011. DOI : 10.1109/IROS45743.2020.9340854.
Human-friendly solutions for last-centimeter drone deliveryLausanne, EPFL, 2020.
Learning Vision-based Flight in Drone Swarms by ImitationIEEE 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 ApplicationsIEEE Communications Letters. 2019-08-12. Vol. 23, num. 11, p. 1962-1966. DOI : 10.1109/LCOMM.2019.2934684.
The current state and future outlook of rescue roboticsJournal 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 FlyIeee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 209-216. DOI : 10.1109/LRA.2018.2885575.
Embodied Flight with a Drone2019. 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 algorithm2019. The Third IEEE International Conference on Robotic Computing, Naples, Italy, February 25-27, 2019. DOI : 10.1109/IRC.2019.00028.
Wall-contact sliding control strategy for a 2D caged quadrotor2018-10-17. 18th International Conference on Control, Automation, and Systems, PyeongChang, GangWon Province, Korea, October 17-20, 2018. p. 291-296.
Spatial Encoding of Translational Optic Flow in Planar Scenes by Elementary Motion Detector ArraysScientific Reports. 2018-04-11. Vol. 8, num. 1, p. 5821. DOI : 10.1038/s41598-018-24162-z.
Forceful manipulation with micro air vehiclesScience Robotics. 2018. Vol. 3, num. 23, p. eaau6903. DOI : 10.1126/scirobotics.aau6903.
Last-Centimeter Personal Drone Delivery: Field Deployment and User InteractionIEEE Robotics and Automation Letters. 2018. Vol. 3, num. 4, p. 3813-3820. DOI : 10.1109/LRA.2018.2856282.
Bioinspired dual-stiffness origamiScience Robotics. 2018. Vol. 3, num. 20, p. eaau0275. DOI : 10.1126/scirobotics.aau0275.
Data-driven body–machine interface for the accurate control of dronesProceedings of the National Academy of Sciences. 2018. p. 201718648. DOI : 10.1073/pnas.1718648115.
A multi-modal hovering and terrestrial robot with adaptive morphology2018. 2nd International Symposium on Aerial Robotics, Philadelphia, Pennsylvania, USA, June 11-12, 2018.
Localization of emergency acoustic sources by micro aerial vehiclesJournal of Field Robotics. 2017. Vol. 35, num. 2, p. 187-201. DOI : 10.1002/rob.21733.
Foldable Drones: from Biology to Technology2017. SPIE Bioinspiration, Biomimetics, and Bioreplication, Portland, Oregon, March 2017. p. 1016203-1-1016203-6. DOI : 10.1117/12.2259931.
Insect-Inspired Mechanical Resilience for MulticoptersIEEE 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 dronesInterface Focus. 2017. Vol. 7, num. 1, p. 20160092. DOI : 10.1098/rsfs.2016.0092.
Human-Comfortable Collision Free Navigation for Personal Aerial VehiclesIEEE Robotics and Automation Letter. 2017. Vol. 2, num. 1, p. 358-365. DOI : 10.1109/LRA.2016.2626520.
Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial RobotsIeee 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 Reconnaissance2016. International Symposium on Safety, Security and Rescue Robotics (SSRR 2016), Lausanne, Switzerland, October 23-27th, 2016. p. 396-401. DOI : 10.1109/SSRR.2016.7784333.
Adaptive Morphology: A Design Principle for Multimodal and Multifunctional RobotsIEEE Robotics & Automation Magazine. 2016. Vol. 23, num. 3, p. 42-54. DOI : 10.1109/MRA.2016.2580593.
A Drone with Insect-Inspired Folding Wings2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Daejeon, Korea, October 9-14, 2016. p. 1576-1581. DOI : 10.1109/IROS.2016.7759255.
On-Board Relative Bearing Estimation for Teams of Drones Using SoundIEEE Robotics and Automation Letters. 2016. Vol. 1, num. 2, p. 820-827. DOI : 10.1109/LRA.2016.2527833.
Fixed-wing drones for communication networksLausanne, EPFL, 2016.
A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environmentsAutonomous Robots. 2016. Vol. 40, p. 789–803. DOI : 10.1007/s10514-015-9494-4.
Functional Soft Robotic Actuators Based on Dielectric ElastomersLausanne, EPFL, 2016.
Dynamic Routing for Flying Ad Hoc NetworksIEEE Transactions on Vehicular Technology. 2016. Vol. 65, num. 3, p. 1690-1700. DOI : 10.1109/TVT.2015.2414819.
Extension of a Ground Control Interface for Swarms of Small Drones2015. 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 Coverage2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, p. 669-674. DOI : 10.1109/IROS.2015.7353444.
Evaluation of control strategies for fixed-wing drones following slow-moving ground agentsRobotics and Autonomous Systems. 2015. Vol. 72, p. 285-294. DOI : 10.1016/j.robot.2015.06.003.
Adaptive Morphology for Multi-Modal LocomotionLausanne, EPFL, 2015.
Science, technology and the future of small autonomous dronesNature. 2015. Vol. 521, p. 460-466. DOI : 10.1038/nature14542.
Foldable and Self-Deployable Pocket Sized Quadrotor2015. 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, Washington, USA, May 26-30, 2015. p. 2190-2195. DOI : 10.1109/ICRA.2015.7139488.
Performance analysis of jump-gliding locomotion for miniature roboticsBioinspiration & 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 VehiclesLausanne, EPFL, 2015.
A bioinspired multi-modal flying and walking robotBioinspiration & Biomimetics. 2015. Vol. 10, num. 1, p. 016005. DOI : 10.1088/1748-3190/10/1/016005.
A Foldable Antagonistic ActuatorIEEE/ASME Transactions on Mechatronics. 2015. Vol. 20, num. 5, p. 1997-2008. DOI : 10.1109/TMECH.2014.2359337.
Vertical take-off and landing aerial vehicle
CN108137152; ES2767689; EP3347268; AU2016319276; 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
US2015293138; EP2917693; WO2014072377; EP2730888.2014.
Curved artificial compound-eyes for autonomous navigation2014. Micro-Optics, Brussels, Belgium, APR 14-16, 2014. DOI : 10.1117/12.2052710.
Miniature artificial compound eyes for optic-flow-based robotic navigation2014. 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 Vehicles2014. 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 RobotJournal of Field Robotics. 2014. Vol. 31, num. 4, p. 469-509. DOI : 10.1002/rob.21495.
Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems2013. Robotics: Science and Systems RSS2013, Berlin, Germany, June 24-28, 2013.
Optic-Flow Based Control of a 46g Quadrotor2013. 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 Robots2013. International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013. p. 1886-1892. DOI : 10.1109/IROS.2013.6696606.
A Flying Robot with Adaptive Morphology for Multi-Modal Locomotion2013. IROS 13, Tokyo, Japan, November 3-6, 2013. p. 1361-1366. DOI : 10.1109/IROS.2013.6696526.
Contact-based navigation for an autonomous flying robot2013. International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013. p. 3987-3992. DOI : 10.1109/IROS.2013.6696926.
Testbed for Fast-Deployable Flying WiFi Networks2013. FOURTH NORDIC WORKSHOP ON SYSTEM AND NETWORK OPTIMIZATION FOR WIRELESS, Kittila, Finland, 2013.
Miniature curved artificial compound eyesPNAS. 2013. Vol. 110, num. 23, p. 9332-9337. DOI : 10.1073/pnas.1219068110.
Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots2013. 10th International Symposium on Distributed Autonomous Robotic Systems. p. 281-293. DOI : 10.1007/978-3-642-32723-0_21.
Energy-Time Efficiency in Aerial Swarm Deployment2013. 10th International Symposium on Distributed Autonomous Robotic Systems, EPFL, Lausanne, Switzerland, November 1-3, 2010. p. 5-18. DOI : 10.1007/978-3-642-32723-0_1.
Evolution of division of labor in artificial societiesLausanne, EPFL, 2013.
Representation of Vehicle Dynamics in Haptic Teleoperation of Aerial Robots2013. IEEE International Conference on Robotics and Automation, Karlsruhe, May 6-10, 2013. p. 1485-1491. DOI : 10.1109/ICRA.2013.6630767.
A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive2013. ICRA 13, Karlsruhe, May 6-7, 2013.
Swarmanoid: a novel concept for the study of heterogeneous robotic swarmsIEEE Robotics & Automation Magazine. 2013. Vol. 20, num. 4, p. 60-71. DOI : 10.1109/MRA.2013.2252996.
Beat-based synchronization and steering for groups of fixed-wing flying robots2013. International Symposium on Distributed Autonomous Robotics Systems, Lausanne, Switzerland, November 1-3, 2010. p. 281–293. DOI : 10.1007/978-3-642-32723-0_21.
Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles2012. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, October 7-12, 2012.. p. 4737-4742. DOI : 10.1109/IROS.2012.6385608.
Implementation of a Wireless Mesh Network of Ultra Light MAVs with Dynamic Routing2012. IEEE GLOBECOM 2012, 3rd International IEEE Workshop on Wireless Networking & Control for Unmanned Autonomous Vehicles 2012, Anaheim, California, USA, December 3-7, 2012. p. 1591-1596. DOI : 10.1109/GLOCOMW.2012.6477823.
Design of Flying Robots for Collision Absorption and Self-RecoveryLausanne, EPFL, 2012.
Indoor Navigation with a Swarm of Flying Robots2012. IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, USA, May 14-18, 2012. p. 4641-4647. DOI : 10.1109/ICRA.2012.6224987.
The AirBurr: A Flying Robot That Can Exploit Collisions2012. 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 sensors2012. 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 RobotsIEEE Transactions on Robotics. 2012. Vol. 28, num. 5, p. 1152 -1157. DOI : 10.1109/TRO.2012.2201309.
myCopter – Enabling Technologies for Personal Aerial Transportation Systems2011. International HELI World Conference, Frankfurt/Main, Germany, 2011.
myCopter – Enabling Technologies for Personal Aerial Transportation Systems.2011. European Rotorcraft Forum, Vergiate/Gallarate, Italy, September 13-15, 2011.
CURVACE – CURVed Artificial Compound Eyes2011. 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 wings2011. IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand, December 7-11, 2011. p. 1503-1508. DOI : 10.1109/ROBIO.2011.6181502.
Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate2011. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2011), San Francisco, September 25-30, 2011. p. 5015-5020. DOI : 10.1109/IROS.2011.6095129.
Aerial Locomotion in Cluttered Environments2011. 15th International Symposium on Robotics Research, Flagstaff, Arizona, USA, August 28-September 1, 2011.
The Accuracy of Automatic Photogrammetric Techniques on Ultra-light UAV Imagery2011. UAV-g 2011 – Unmanned Aerial Vehicle in Geomatics, Zürich, CH, September 14-16, 2011.
myCopter: Enabling Technologies for Personal Air Transport Systems2011. 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 RobotsLausanne, EPFL, 2011.
Energy-Efficient Indoor Search by Swarms of Flying Robots without Global InformationLausanne, EPFL, 2011.
Enabling Large-Scale Collective Systems in Outdoor Aerial RoboticsLausanne, EPFL, 2011.
Dealing with Mid-Air Collisions in Dense Collective Aerial SystemsJournal of Field Robotics. 2011. Vol. 28, num. 3, p. 405-423. DOI : 10.1002/rob.20385.
Review of Light-weight Payloads for MAVs and Experiments with Thermopiles
Thermal soaring flight of birds and unmanned aerial vehiclesBioinspiration 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 AltitudeCurrent Biology. 2010. Vol. 20, num. 19, p. R847-R849. DOI : 10.1016/j.cub.2010.08.022.
Evolutionary Synthesis of Communication-Based Aerial SwarmsLausanne, EPFL, 2010.
Energy Efficient Swarm Deployment for Search in Unknown Environments2010. 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 VehiclesJournal 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 Robots2010. 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 InformationSwarm Intelligence. 2010. Vol. 4, num. 2, p. 117-144. DOI : 10.1007/s11721-010-0039-3.
Communication-based Leashing of Real Flying Robots2010. IEEE International Conference on Robotics and Automation (ICRA2010). p. 15-20. DOI : 10.1109/ROBOT.2010.5509421.
Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following2010. IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010. p. 3329-3334. DOI : 10.1109/ROBOT.2010.5509273.
An Indoor Flying Platform with Collision Robustness and Self-Recovery2010. 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.
How to control MAVs in cluttered environments?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 flow2009. European Micro Air Vehicle conference and competition 2009 (EMAV ’09), Delft, Netherland, September 14-17, 2009.
A Minimalist Control Strategy for Small UAVs2009. 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), St. Louis, October 11-15, 2009. p. 2873-2878. DOI : 10.1109/IROS.2009.5354465.
A Miniature Jumping Robot with Self-Recovery Capabilities2009. IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, October 11-15, 2009. p. 583-588. DOI : 10.1109/IROS.2009.5354005.
Vision-based control of near-obstacle flightAutonomous Robots. 2009. Vol. 27, num. 3, p. 201-219. DOI : 10.1007/s10514-009-9139-6.
Vision-based control of near-obstacle flightLausanne, EPFL, 2009.
Methods for Artificial Evolution of Truly Cooperative Robots2009. 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 relayAutonomous Robots. 2009. Vol. 26, num. 1, p. 21-32. DOI : 10.1007/s10514-008-9104-9.
A time-of-travel motion detection chip for steering autonomous robots2008. 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 UAVs2008. UAV’2008, Orlando, June 23-25, 2008.
Optic flow to control small UAVs2008. 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 access2008. European Micro Air Vehicle Conference EMAV08, Braunschweig, Germany, July 8-10, 2008.
Towards the Self Deploying Microglider, a biomimetic jumping and gliding robot2008. 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 Robots2008. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2008), Nice, France, September 22-26, 2008. p. 1242-1247. DOI : 10.1109/IROS.2008.4650856.
Ant-based Swarming with Positionless Micro Air Vehicles for Communication RelaySwarm Intelligence. 2008. Vol. 2, num. 2-4, p. 167-188. DOI : 10.1007/s11721-008-0013-5.
Visual autopilot for near-obstacle flight
PL2274658; ES2389549; EP2274658; US2011029161; EP2274658; WO2009127907.2008.
A miniature 7g jumping robot2008. IEEE International Conference on Robotics and Automation (ICRA’2008), Pasadena, California, May 19-23, 2008. p. 373-378. DOI : 10.1109/ROBOT.2008.4543236.
Towards the Self Deploying Microglider; Gliding Flight and Bioinspired Wing Folding Mechanism2007. 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 Experiments2007. 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 Flight2007. European Micro Air Vehicle Conference and Flight Competition (EMAV2007), Toulouse, France, 17-21 September 2007.
Insect-inspired Autonomous Microflyer2007. 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 RobotAdvanced Robotics. 2007. Vol. 21, num. 14, p. 1671-1684. DOI : 10.1163/156855307782227417.
Motion Detection Circuits for a Time-To-Travel Algorithm2007. IEEE International Symposium on Circuits and Systems (ISCAS), New Orleans, 27-30 May. p. 3079-3082. DOI : 10.1109/ISCAS.2007.378059.
3D Vision-based Navigation for Indoor Microflyers2007. IEEE International Conference on Robotics and Automation (ICRA’07), Roma, Italy, April 10th-14th, 2007. p. 1336-1341. DOI : 10.1109/ROBOT.2007.363170.
A 1.5g SMA-actuated Microglider looking for the Light2007. IEEE International Conference on Robotics and Automation (ICRA’2007), Rome, Italy, 10-14.4.2007. p. 367-372. DOI : 10.1109/ROBOT.2007.363814.
Flying over the Reality Gap: From Simulated to Real Indoor AirshipsAutonomous Robots. 2006. Vol. 21, num. 3, p. 243-254. DOI : 10.1007/s10514-006-9718-8.
A 10-gram Microflyer for Vision-based Indoor Navigation2006. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2006), Beijing, China, October 9-15. p. 3267-3272. DOI : 10.1109/IROS.2006.282436.
Vision-based Altitude and Pitch Estimation for Ultra-light Indoor Microflyers2006. IEEE International Conference on Robotics and Automation (ICRA’06), Orlando, FL, May, 2006. p. 2836-2841. DOI : 10.1109/ROBOT.2006.1642131.
Fly-inspired Visual Steering of an Ultralight Indoor AircraftIEEE Transactions on Robotics. 2006. Vol. 22, num. 1, p. 137-146. DOI : 10.1109/TRO.2005.858857.
From Wheels to Wings with Evolutionary Spiking NeuronsArtificial 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 Control2005. IEEE International Conference on Robotics and Automation (ICRA’2005), Barcelona, 18-22 April. p. 2594-2599. DOI : 10.1109/ROBOT.2005.1570504.
Bio-inspired vision-based flying robotsLausanne, EPFL, 2005.
Optic-flow-based steering and altitude control for ultra-light indoor aircraft