
Flying robots are very useful for tasks such as aerial mapping, fast exploration, video footage and monitoring of buildings. However, autonomous missions are usually constrained to high altitude flights above flat surfaces in order to avoid collisions. Traditional methods for collision-free navigation require large resources and limit the payload of robots.
On the other hand, flying insects are able to navigate safely and efficiently using low quality vision as their main sensory input. Ideally, robots could adopt insects strategies, but little is known about the way insects turn visual stimuli into muscular actuation during flight. This precludes a direct implementation of insect flight control into robots and forces roboticists to guess appropriate strategies.
In this thesis, we aim to investigate, develop and implement insect-inspired control strategies in flying robots for goal-oriented navigation in complex environments. We will start by exploring insect sensing and actuation through experiments with bumblebees. Then, we will model the insect’s flight control strategies. This model will be tested in simulation and implemented in a custom designed flying robot. Through experiments in natural environments, we will characterize the efficiency of our model for goal-oriented collision-free navigation.
Publications
Empathetic Conversational Agents for Distress Support
Lausanne: EPFL2023
p. 203.DOI : 10.5075/epfl-thesis-9810
Multiparty Homomorphic Encryption: from Theory to Practice
Lausanne: EPFL2023
p. 127.DOI : 10.5075/epfl-thesis-8846
Wind, Hail, and Climate Extremes: Modelling and Attribution Studies for Environmental Data
Lausanne: EPFL2023
p. 132.DOI : 10.5075/epfl-thesis-11082
Materials engineering for improved stability of perovskite solar cells
Lausanne: EPFL2023
p. 154.DOI : 10.5075/epfl-thesis-10636
Green Cryptography and Other Optimisations
Lausanne: EPFL2023
p. 265.DOI : 10.5075/epfl-thesis-10505
Nanotechnology enabled modulation of T cell immunity for cancer treatment
Lausanne: EPFL2023
p. 142.DOI : 10.5075/epfl-thesis-10472
Atomic-Level Structure and Thermodynamic and Kinetic Modelling of Zinc-Modified C-S-H
Lausanne: EPFL2023
p. 120.DOI : 10.5075/epfl-thesis-10400
NMR Crystallography in the Big Data Era: New Methods and Applications Powered by Machine Learning
Lausanne: EPFL2023
p. 232.DOI : 10.5075/epfl-thesis-10371
Retraction-based numerical methods for continuation, interpolation and time integration on manifolds
Lausanne: EPFL2023
p. 192.DOI : 10.5075/epfl-thesis-10328
Novel quantitative bioengineered tools to track human bone marrow niche cellular constituents in health and disease
Lausanne: EPFL2023
p. 243.DOI : 10.5075/epfl-thesis-10324
Exploring the interplay of molecular pattern and valency for selective interactions at the bio-interface
Lausanne: EPFL2023
p. 241.DOI : 10.5075/epfl-thesis-10292
Topological Effects in Carbon-based Two-dimensional Nanostructures
Lausanne: EPFL2023
p. 141.DOI : 10.5075/epfl-thesis-10286
Modeling, Optimization and Design of High Power Medium Frequency Transformers
Lausanne: EPFL2023
p. 174.DOI : 10.5075/epfl-thesis-10238
The biofilm ecology of proglacial floodplain streams
Lausanne: EPFL2023
p. 213.DOI : 10.5075/epfl-thesis-10173
Metabolism of the symbiotic jellyfish Cassiopea in a changing environment
Lausanne: EPFL2023
p. 100.DOI : 10.5075/epfl-thesis-10133
Krot istorii v spyachke
Neprikosnovenny Zapas
2023-05-10
Vol. 2023 , num. 2(148), p. 28-42.Yevgeny Polivanov: Beyond Formalism?
Linguistic Frontiers
2023-07-08
Vol. Volume 6 (2023) , num. Issue 1 (June 2023), p. 18-22.DOI : 10.2478/lf-2023-0009
Positive Definite Completions and Continuous Graphical Models
Lausanne: EPFL2023
p. 256.DOI : 10.5075/epfl-thesis-9925
Deep Generative Models for Autonomous Driving: from Motion Forecasting to Realistic Image Synthesis
Lausanne: EPFL2023
p. 174.DOI : 10.5075/epfl-thesis-9876
Hardware-Software co-design Methodologies for Edge AI Optimization
Lausanne: EPFL2023
p. 164.DOI : 10.5075/epfl-thesis-10318
Relating health benefits of water, sanitation, and hygiene services with the context of urban informal settlements: lessons from Côte d’Ivoire and Kenya
Lausanne: EPFL2023
p. 218.DOI : 10.5075/epfl-thesis-10143
MultiModN- Multimodal, Multi-Task, Interpretable Modular Networks
2023
37th Conference on Neural Information Processing Systems (NeurIPS), New Orleans, US, December 10-16, 2023.DOI : 10.48550/arxiv.2309.14118
Making a Model for the Green Revolution: A Controversial Beginning
GREEN REVOLUTION(S): CONTESTED PATHS OF AGRARIAN MODERNIZATION IN THE 20TH CENTURY, Lausanne, Switzerland, January 19, 2023.
La Oficina de Estudios Especiales y la Revolución Verde 80 años después
Coloquio. La Oficina de Estudios Especiales y la Revolución Verde 80 años después, El Colegio Mexiquense and online, 1-2 February 2023.
Strengthening farmers’ seed systems to enhance agricultural resilience
Empowering youth and women in science for a food-secure future, Palais des Nations, Geneva, Switzerland, 21 February 2023.
Infrastructuring bureaucracy: Putting AI to (net)work in public administration
STS-CH 2023 Conference, Basel, Switzerland, 31.08.2023-01.09.2023.
Equilibrium β-limits dependence on bootstrap current in classical stellarators
Journal of Plasma Physics
2023-09-20
Vol. 89 , num. 5, p. 905890508.DOI : 10.1017/S0022377823000910
Nonlinear saturation of resistive tearing modes in a cylindrical tokamak with and without solving the dynamics
Journal of Plasma Physics
2023-09-18
Vol. 89 , num. 5, p. 905890507.DOI : 10.1017/S0022377823000934
A multimodal measurement of the impact of deepfakes on the ethical reasoning and affective reactions of students
2023-09-11
2023 SEFI Annual Conference, Dublin, Ireland, September 11-14, 2023.Things that Talk: On a new perspective for engaging with scientific instruments
XLII Scientific Instrument Symposium, Palermo, Italy, September 18-22, 2023.
Proposed residual stress model for hot‐rolled wide flange steel cross sections
EUROSTEEL 2023 Setember 12-14, 2023, Amsterdam – ce/papers
2023
EUROSTEEL 2023, Setember 12-14, 2023, Amsterdam, The Neatherlands.p. 1711-1716
DOI : 10.1002/cepa.2736
Drawing in Court: their use in patent cases and their impact on the creation of case law (1780-1850)
2023-06-29
Patent documents as sources and data: Quantitative and qualitative methodologies, Lausanne, June 28-29, 2023.Writing/Drawing/Modeling Inventions: Regimes of Description and the ‘Intellectual’ in IP, France-United States ca. 1790-1850
Workshop ‘Patent documents as sources and data: Quantitative and qualitative methodologies’, EPFL Lausanne, June 29-30, 2023.
Carbon budgets at the component scale and their impacts on design choices: the façade as a case study
2023
CISBAT 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.All-glass miniature GHz repetition rate femtosecond laser cavity
Optica
2023
Vol. 10 , num. 10, p. 1269.DOI : 10.1364/OPTICA.496503
Benign Overfitting in Deep Neural Networks under Lazy Training
2023
40th International Conference on Machine Learning (ICML), Honolulu, Hawaii, USA, July, 23-29, 2023.What can online reinforcement learning with function approximation benefitfrom general coverage conditions
2023
40th International Conference on Machine Learning (ICML), Honolulu, Hawaii, USA, July, 23-29, 2023.A VR-based workflow to assess perception of daylit views-out with a focus on dynamism and immersion
2023-09-15
CISBAT 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.Tone-mapping requirements in real-time videos for studying the dynamism of views-out in virtual reality
2023-09-20
CIE 2023, Ljubljana, Slovenia, September 18-20, 2023.Digital upcycling of concrete rubbles – video
2023-09-10
From concrete waste to walls An investigation of reclamation and digital technologies for new load-bearing structures
2023-11-01
cisbat 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.From concrete waste to walls An investigation of reclamation and digital technologies for new load-bearing structures
CISBAT 2023 THE BUILT ENVIRONMENT IN TRANSITION Hybrid International Scientific Conference, Lausanne, Switzerland, September 13-15, 2023.
Acoustic Levitation apparatus (Robotics Practicals)
2023
How to Achieve Large-Area Ultra-Fast Operation of MoS 2 Monolayer Flash Memories?
IEEE Nanotechnology Magazine
2023
p. 1-5.DOI : 10.1109/MNANO.2023.3297118
Database of Residual Stress Measurements on Hot-rolled Wide Flange Steel Cross Sections
2023
Euclid preparation XXVI. The Euclid Morphology Challenge: Towards structural parameters for billions of galaxies
Astronomy & Astrophysics
2023-03-14
Vol. 671 , p. A102.DOI : 10.1051/0004-6361/202245042
Gaia Data Release 3: The extragalactic content
Astronomy & Astrophysics
2023-06-16
Vol. 674 , p. A41.DOI : 10.1051/0004-6361/202243232
Exploring and mapping the diffuse interstellar band at 862nm
Astronomy & Astrophysics
2023-06-16
Vol. 674 , p. A40.DOI : 10.1051/0004-6361/202243283
Averages of b-hadron, c-handron, and t-lepton properties as of 2021
Physical Review D
2023-03-01
Vol. 107 , num. 5, p. 052008.DOI : 10.1103/PhysRevD.107.052008
Gaia Data Release 3 Summary of the variability processing and analysis
Astronomy & Astrophysics
2023-06-16
Vol. 674 , p. A13.DOI : 10.1051/0004-6361/202244242
Quantum process tomography with unsupervised learning and tensor networks
Nature Communications
2023-05-19
Vol. 14 , num. 1, p. 2858.DOI : 10.1038/s41467-023-38332-9
Down-conversion of a single photon as a probe of many-body localization
Nature
2023-01-26
Vol. 613 , num. 7945, p. 650-+.DOI : 10.1038/s41586-022-05615-y
Feasibility of the EDICAM camera for runaway electron detection in JT-60SA disruptions
Fusion Engineering And Design
2023-10-01
Vol. 195 , p. 113940.DOI : 10.1016/j.fusengdes.2023.113940
Linking connectivity of deep brain stimulation of nucleus accumbens area with clinical depression improvements: a retrospective longitudinal case series
European Archives Of Psychiatry And Clinical Neuroscience
2023-09-05
DOI : 10.1007/s00406-023-01683
Experimental and numerical investigations of electron transport enhancement by electron-cyclotron plasma-wave interaction in tokamaks
Plasma Physics And Controlled Fusion
2023-10-01
Vol. 65 , num. 10, p. 104001.DOI : 10.1088/1361-6587/acf39c
How accurate are flux-tube (local) gyrokinetic codes in modeling energetic particle effects on core turbulence?
Nuclear Fusion
2023-10-01
Vol. 63 , num. 10, p. 106012.DOI : 10.1088/1741-4326/acf1b0
Out of their minds? Externalist challenges for using AI in forensic psychiatry
Frontiers In Psychiatry
2023-08-24
Vol. 14 , p. 1209862.DOI : 10.3389/fpsyt.2023.1209862
A fluoropolymer bifunctional solid membrane interface for improving the discharge duration in aqueous Al-air batteries
Chemical Communications
2023-08-23
DOI : 10.1039/d3cc02671
A Full-Wave Reference Simulator for Computing Surface Reflectance
Acm Transactions On Graphics
2023-08-01
Vol. 42 , num. 4, p. 109.DOI : 10.1145/3592414
A review of the security vulnerabilities and countermeasures in the Internet of Things solutions: A bright future for the Blockchain
Internet Of Things
2023-10-01
Vol. 23 , p. 100888.DOI : 10.1016/j.iot.2023.100888
Pathway and directional specificity of Hebbian plasticity in the cortical visual motion processing network
Iscience
2023-07-21
Vol. 26 , num. 7, p. 107064.DOI : 10.1016/j.isci.2023.107064
Protocol for live imaging of intracellular nanoscale structures using atomic force microscopy with nanoneedle probes
Star Protocols
2023-09-15
Vol. 4 , num. 3, p. 102468.DOI : 10.1016/j.xpro.2023.102468
Multiomic analysis of HER2-enriched and AR-positive breast carcinoma with apocrine differentiation and an oligometastatic course: a case report
Frontiers In Oncology
2023-07-31
Vol. 13 , p. 1240865.DOI : 10.3389/fonc.2023.1240865
Predicting party switching through machine learning and open data
Iscience
2023-07-21
Vol. 26 , num. 7, p. 107098.DOI : 10.1016/j.isci.2023.107098
Seeing Photons in Color
Acm Transactions On Graphics
2023-08-01
Vol. 42 , num. 4, p. 99.DOI : 10.1145/3592438
Inflammatory mitochondrial nucleic acids as drivers of pathophysiology
Clinical And Translational Medicine
2023-09-01
Vol. 13 , num. 9, p. e1403.DOI : 10.1002/ctm2.1403
cgNA plus web : A Visual Interface to the cgNA plus Sequence-dependent Statistical Mechanics Model of Double-stranded Nucleic Acids
Journal Of Molecular Biology
2023-07-15
Vol. 435 , num. 14, p. 167978.DOI : 10.1016/j.jmb.2023.167978
Arvin: Greybox Fuzzing Using Approximate Dynamic CFG Analysis
Proceedings Of The 2023 Acm Asia Conference On Computer And Communications Security, Asia Ccs 2023
2023-01-01
18th ACM ASIA Conference on Computer and Communications Security (ASIA CCS), Melbourne, AUSTRALIA, Jul 10-14, 2023.p. 232-246
DOI : 10.1145/3579856.3582813
Pipelined Architecture for Soft-Decision Iterative Projection Aggregation Decoding for RM Codes
Ieee Transactions On Circuits And Systems I-Regular Papers
2023-08-31
DOI : 10.1109/TCSI.2023.3306463
Chlorination of amides: Kinetics and mechanisms of formation of N-chloramides and their reactions with phenolic compounds
Water Research
2023-08-15
Vol. 242 , p. 120131.DOI : 10.1016/j.watres.2023.120131
Polydimethylsiloxane based soft polymer optical fibers: From the processing-property relationship to pressure sensing applications
Materials & Design
2023-08-01
Vol. 232 , p. 112115.DOI : 10.1016/j.matdes.2023.112115
Improving planar optode lifetime: encapsulation and optical release of pH-sensing optodes and assessment of their lifetime in situ
Journal Of Soils And Sediments
2023-09-14
DOI : 10.1007/s11368-023-03650-4
Physiological Demands of Exergames in Older Adults- A Systematic Literature Review
Journal Of Aging And Physical Activity
2023-08-24
DOI : 10.1123/japa.2022-0261
Adaptive Symplectic Model Order Reduction Of Parametric Particle-Based Vlasov-Poisson Equation
Mathematics Of Computation
2023-08-24
DOI : 10.1090/mcom/3885
Modeling local thermal responses of individuals: Validation of advanced human thermo-physiology models
Building And Environment
2023-09-01
Vol. 243 , p. 110667.DOI : 10.1016/j.buildenv.2023.110667
Detecting whether a stochastic process is finitely expressed in a basis
Applied And Computational Harmonic Analysis
2023-11-01
Vol. 67 , p. 101578.DOI : 10.1016/j.acha.2023.101578
Tissue clearing applications in memory engram research
Frontiers In Behavioral Neuroscience
2023-08-28
Vol. 17 , p. 1181818.DOI : 10.3389/fnbeh.2023.1181818
Expansion Work Recovery of Hydrogen for a FC-Truck-Tentative Design of an Expansion Machine
Inventions
2023-08-01
Vol. 8 , num. 4, p. 89.DOI : 10.3390/inventions8040089
Light-Driven Thermo-Optical Effects in Nanoresonator Arrays
Advanced Optical Materials
2023-09-07
DOI : 10.1002/adom.202300698
Identification of the Mott Insulating Charge Density Wave State in 1T-TaS2
Physical Review Letters
2023-08-03
Vol. 131 , num. 5, p. 059601.DOI : 10.1103/PhysRevLett.131.059601
Methods for Calibrating the Electrochemical Quartz Crystal Microbalance: Frequency to Mass and Compensation for Viscous Load
Chemosensors
2023-08-01
Vol. 11 , num. 8, p. 456.DOI : 10.3390/chemosensors11080456
Stable parameterization of continuous and piecewise-linear functions
Applied And Computational Harmonic Analysis
2023-11-01
Vol. 67 , p. 101581.DOI : 10.1016/j.acha.2023.101581
4D printing of Metal-Reinforced double network granular hydrogels
Chemical Engineering Journal
2023-10-01
Vol. 473 , p. 145433.DOI : 10.1016/j.cej.2023.145433
Saliency prediction in 360° architectural scenes: Performance and impact of daylight variations
Journal of Environmental Psychology
2023
p. 102110.DOI : 10.1016/j.jenvp.2023.102110
Risk of incorrect choices due to uncertainty in BPS evaluations of conceptual-stage neighbourhood-scale building designs
Journal of Building Performance Simulation
2023
p. 1-19.DOI : 10.1080/19401493.2023.2253458
Buried Interface Engineering Enables Efficient and 1,960‐hour Isos‐L‐2i Stable Inverted Perovskite Solar Cells
Advanced Materials
2023-08-26
DOI : 10.1002/adma.202303869
Controlling morpho-electrophysiological variability of neurons with detailed biophysical models
bioRxiv
2023
DOI : 10.1101/2023.04.06.535923
Interpretable statistical representations of neural population dynamics and geometry
arXiv
2023
DOI : 10.48550/arxiv.2304.03376
Associations between in vitro, in vivo and in silico cell classes in mouse primary visual cortex
Nature Communications
2023
Vol. 14 , num. 1.DOI : 10.1038/s41467-023-37844-8
Modeling and simulation of neocortical micro- and mesocircuitry. Part II: Physiology and experimentation
bioRxiv
2023
DOI : 10.1101/2023.05.17.541168
Community-based reconstruction and simulation of a full-scale model of region CA1 of rat hippocampus.
bioRxiv
2023
DOI : 10.1101/2023.05.17.541167
A unified framework for Simplicial Kuramoto models
arXiv
2023
DOI : 10.48550/arxiv.2305.17977
Distributed Lossy Computation with Structured Codes: From Discrete to Continuous Sources
Proceedings of the 2023 IEEE International Symposium on Information Theory (ISIT)
2023
2023 IEEE International Symposium on Information Theory (ISIT), Taipei, Taiwan, June 25-30, 2023.p. 1681-1686
DOI : 10.1109/ISIT54713.2023.10206990
Personalized Privacy-Preserving Distributed Learning on Heterogeneous Data
Proceedings of the 2023 IEEE International Symposium on Information Theory (ISIT)
2023
2023 IEEE International Symposium on Information Theory (ISIT), Taipei, Taiwan, June 25-30, 2023.p. 2272-2277
DOI : 10.1109/ISIT54713.2023.10206907
Directional sensitivity of cortical neurons towards TMS induced electric fields
ACM Trans. Parallel Comput.
2023
Vol. 10 , num. 2.DOI : 10.1101/2023.07.06.547913
From trees to barcodes and back again II: Combinatorial and probabilistic aspects of a topological inverse problem
Computational Geometry
2024
Vol. 116 , p. 102031.DOI : 10.1016/j.comgeo.2023.102031
Long-term plasticity induces sparse and specific synaptic changes in a biophysically detailed cortical model
bioRxiv
2023
DOI : 10.1101/2023.08.07.552264
Enhancement of brain atlases with region-specific coordinate systems: flatmaps and barrel column annotations
bioRxiv
2023
DOI : 10.1101/2023.08.24.554204
Breakdown and rejuvenation of aging brain energy metabolism
bioRxiv
2023
DOI : 10.1101/2023.08.30.555341
Of mice and men: Increased dendritic complexity gives rise to unique human networks
2023