Swarming MAV Networks II

Natural disasters can happen suddenly and may cause great damage in densely populated areas. In the case of an earthquake or a flood, the network infrastructure may get damaged, preventing survivors from calling for help and hampering cooperation between the survivors and search and rescue teams.

Within this context, the SMAVNET II project aims to easily and quickly deploy an aerial wireless network in urban environments using Micro Air Vehicles (MAVs).



Flying robots are of interest for such applications because they are fast, can easily overcome rough terrain and have direct line-of-sight communication between themselves and with ground users.

The requirements of the suggested applications impose some desired characteristics on the flying platforms. Firstly, the platforms should have adequate autonomy to serve the task. Secondly, the platforms should be user friendly so that the set-up and operation of the swarm does not require special skills. Finally, the robots should be robust to disturbances and have sufficiently long flight times.

For the multi-robot mission, we aim to apply a) swarming and b) networking algorithms: the swarming algorithm is used in robot cooperation and establishing robot-robot and robot-ground network connectivity. Complementary to the swarming is the networking algorithm which is involved in routing the communication between the robots and ground users.

Robots:

There are numerous flying platforms available today. When making a choice for swarming network applications, we consider the following constraints:
User-friendliness: No special skills should be required to deploy or operate the swarm.
Safety and robustness: Flying platforms should not pose a danger for ground users, and should be able to withstand falls.
Size: Small size allows for easy transportation and setup of the swarm.

Autonomy: Flight autonomy is crucial to the success of a swarming network mission.

 To satisfy the above criteria and have a long flight time endurance, we decided to use the eBee (https://www.sensefly.com/drones/ebee.html). The eBee is a fixed wing flying platform of 600g, 1m wingspan, electrically powered, with a flight time up to 45min. We have connected a computer on module to run high-level controllers for swarming and add a wireless network capability, to the existing platform.

Swarming algorithms :

The LIS part of this project is to develop new algorithms for searching people on the ground and establish communication among them in a reliable and efficient way. We are inspired from what has been done so far in area coverage and in communication maintenance. We work towards finding the most suited algorithm to deal with both aspects at the same time. A complete simulation set-up (physics + controllers) has been set up so far allowing us to test our algorithms and get some statistics. We plan to run some outdoors experiments in the following weeks to check that the result we get in simulation were actually relevant.

Network algorithm :

We are collaborating with the LCM Laboratory. The LCM lab is responsible for developing new algorithms for the wireless network. Ideal case in a swarming network is one whe every single node should be connected to at least one other node in order to get a chain from every node to any other node. The main challenge of this part is to cope with the fast change of the network topology. This challenge arises from the high minimal speed (60km/h) of the fixed-wing flying platform and is further complicated by the fact that users on the ground are mobile. Finally, we need to ensure that the mission time of the swarm can exceed the flight time endurance. The LCM lab has demonstrated an improvement over the existing network algorithm by using the relative speed between robots to predict how the link between them should change before it breaks. 

Publications

2020

Hand-worn Haptic Interface for Drone Teleoperation

M. Macchini; T. Havy; A. Weber; F. Schiano; D. Floreano 

2020-06-01. 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference (originally Paris, France), 1 June 2020 (originally 31 May – 4 Jun).

Bio-Inspired Tensegrity Fish Robot

J. Shintake; D. Zappetti; T. Peter; Y. Ikemoto; D. Floreano 

2020-05-29. 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference (originally Paris, France), 1-5 June 2020 (originally 31 May – 4 Jun).

Downside Up:Rethinking Parcel Position for Aerial Delivery

P. M. Kornatowski; M. Feroskhan; W. J. Stewart; D. Floreano 

IEEE 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 Humans

P. M. Kornatowski; M. Feroskhan; W. J. Stewart; D. Floreano 

IEEE Robotics and Automation Letters. 2020-05-11. Vol. 5, num. 3, p. 4233-4240. DOI : 10.1109/LRA.2020.2993757.

Drone-aided Localization in LoRa IoT Networks

V. Delafontaine; F. Schiano; G. Cocco; A. Rusu; D. Floreano 

2020-05-11. 2020 IEEE International Conference on Robotics and Automation (ICRA), virtual conference (originally Paris, France), 1-5 June 2020 (originally 31 May – 4 Jun).

Variable-stiffness tensegrity spine

D. Zappetti; R. Arandes Vilagrasa; E. Ajanic; D. Floreano 

Smart Materials and Structures. 2020-04-09. DOI : 10.1088/1361-665X/ab87e0.

Human-friendly solutions for last-centimeter drone delivery

P. M. Kornatowski / D. Floreano (Dir.)  

Lausanne, EPFL, 2020. 

2019

Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures

D. Zappetti; S. H. Jeoung; J. Shintake; D. Floreano 

Soft Robotics. 2019-12-17. DOI : 10.1089/soro.2019.0091.

Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

M. Macchini; F. Schiano; D. Floreano 

IEEE Robotics and Automation Letters. 2019-10-31.  p. 1-1. DOI : 10.1109/LRA.2019.2950816.

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

C. Rognon; V. Ramachandran; A. Wu; A. Ijspeert; D. Floreano 

IEEE Transactions on Haptics. 2019-09-19. Vol. 12, num. 3, p. 375-385. DOI : 10.1109/TOH.2019.2925612.

A Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery

C. Chautems; A. Tonazzini; Q. Boehler; D. Floreano; B. Nelson 

Advanced Intelligent Systems. 2019-09-11. DOI : 10.1002/aisy.201900086.

Stretchable pumps for soft machines

V. Cacucciolo; J. Shintake; Y. Kuwajima; S. Maeda; D. Floreano et al. 

Nature. 2019-08-22. Vol. 572, p. 516–519. DOI : 10.1038/s41586-019-1479-6.

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.

Soft haptic device to render the sensation of flying like a drone

C. Rognon; M. Koehler; C. Duriez; D. Floreano; A. M. Okamura 

IEEE Robotics and Automation Letters. 2019-07-01. Vol. 4, num. 3, p. 2524-2531. DOI : 10.1109/LRA.2019.2907432.

The role of optic flow pooling in insect flight control in cluttered environments

J. Lecoeur; M. Dacke; D. Floreano; E. Baird 

Scientific Reports. 2019-05-22. Vol. 9, num. 1, p. 7707. DOI : 10.1038/s41598-019-44187-2.

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.

STEERABLE CATHETER WITH PORTIONS OF DIFFERENT STIFFNESS

B. Nelson; S. Lyttle; C. Chautems; A. Tonazzini; D. Floreano 

CN111050835; WO2019048328; EP3449965.

2019-03-14.

Perception of a Wearable Haptic Feedback Device to Render the Sensation of Flight

C. Rognon; M. Koehler; D. Floreano; A. M. Okamura 

2019-01-01. IEEE World Haptics Conference (WHC), Tokyo, JAPAN, Jul 09-12, 2019. p. 61-66.

Wearable Technologies for Embodied Human-Robot Interaction

C. Rognon / D. Floreano (Dir.)  

Lausanne, EPFL, 2019. 

Insect-Inspired Visual Perception for Flight Control and Collision Avoidance

J. J. D. N. Lecoeur / D. Floreano; E. Baird (Dir.)  

Lausanne, EPFL, 2019. 

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.

Inquiry-Based Learning with RoboGen: An Open-Source Software and Hardware Platform for Robotics and Artificial Intelligence

J. E. Auerbach; A. Concordel; P. M. Kornatowski; D. Floreano 

IEEE Transactions on Learning Technologies. 2019. Vol. 12, num. 3, p. 356-369. DOI : 10.1109/TLT.2018.2833111.

2018

All‐Fabric Wearable Electroadhesive Clutch

V. Ramachandran; J. Shintake; D. Floreano 

Advanced Materials Technologies. 2018-10-23. Vol. 4, num. 2, p. 1800313. DOI : 10.1002/admt.201800313.

Variable stiffness strip with strain sensing for wearable robotics

A. Tonazzini; J. Shintake; C. Rognon; V. Ramachandran; S. Mintchev et al. 

2018-07-09. 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, April 24-28, 2018. p. 485-490. DOI : 10.1109/ROBOSOFT.2018.8405373.

Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators

J. Shintake; V. Cacucciolo; H. Shea; D. Floreano 

Soft Robotics. 2018-06-29. Vol. 5, num. 4, p. 466-474. DOI : 10.1089/soro.2017.0062.

A Soft Robot for Random Exploration of Terrestrial Environments

S. Mintchev; D. Zappetti; J. Willemin; D. Floreano 

2018-06-15. International Conference on Robotics and Automation, Brisbane, Australia, 21-25 May 2018. p. 7492-7497. DOI : 10.1109/ICRA.2018.8460667.

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.

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

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

2018-01-01. 18th International Conference on Control, Automation and Systems (ICCAS), SOUTH KOREA, Oct 17-20, 2018. p. 291-296.

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

C. Rognon; A. R. Wu; S. Mintchev; A. Ijspeert; D. Floreano 

2018-01-01. 11th International Conference on Haptics – Science, Technology, and Applications (EuroHaptics), Pisa, ITALY, Jun 13-16, 2018. p. 404-415. DOI : 10.1007/978-3-319-93399-3_35.

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.

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

C. Rognon; A. Wu; S. Mintchev; A. Ijspeert; D. Floreano 

2018. Eurohaptics 2018, Pisa, Italy, June 13-16 2018.

FlyJacket: An Upper Body Soft Exoskeleton for Immersive Drone Control

C. Rognon; S. Mintchev; F. I. T. Dell’Agnola; A. T. Cherpillod; D. Atienza Alonso et al. 

IEEE Robotics and Automation Letters. 2018. Vol. 3, num. 3, p. 2362-2369. DOI : 10.1109/LRA.2018.2810955.

Soft Robotic Grippers

J. Shintake; V. Cacucciolo; D. Floreano; H. Shea 

Advanced Materials. 2018. Vol. 30, num. 29, p. 1707035. DOI : 10.1002/adma.201707035.

Ultra-stretchable strain sensors using carbon black-filled elastomer composites and comparison of capacitive versus resistive sensors

J. Shintake; E. Piskarev; S. Jeong; D. Floreano 

Advanced Materials Technologies. 2018. Vol. 3, p. 1700284. DOI : 10.1002/admt.201700284.

2017

Electroadhesive device, system and method for gripping

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

US2019047157; WO2017145103.

2017.

A Variable Stiffness Catheter Controlled with an External Magnetic Field

C. Chautems; A. Tonazzini; D. Floreano; B. Nelson 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24–28, 2017. DOI : 10.1109/IROS.2017.8202155.

Foldable aircraft with protective cage for transportation and transportability

P. M. Kornatowski; S. Mintchev; D. Floreano 

EP3439955; US10252795; EP3439955; SG11201808868Q; US2017291697; WO2017175199.

2017.

Variable Stiffness Device and Method of Manufacturing the Same

A. Tonazzini; S. Mintchev; D. Floreano 

US10113537; US2017292502; WO2017175174.

2017.

Bio-inspired Tensegrity Soft Modular Robots

D. Zappetti; S. Mintchev; J. Shintake; D. Floreano 

2017. Living Machines 2017, Palo Alto, California, USA, July 25-28, 2017. p. 497-508.

Development of Bio-inspired Underwater Robot with Adaptive Morphology Capable of Multiple Swimming Modes

T. A. P. Paschal; J. Shintake; S. Mintchev; D. Floreano 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24–28.

Soft Pneumatic Gelatin Actuator for Edible Robotics

J. Shintake; H. A. Sonar; E. Piskarev; J. Paik; D. Floreano 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24–28.

An origami-inspired cargo drone

P. M. Kornatowski; S. Mintchev; D. Floreano 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, September 24-28, 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.

One Constraint at a Time: Using Viability Principles in Integrative Modeling of Macromolecular Assemblies

G. E. Tamo; A. Maesani; S. Traeger; M. T. Degiacomi; D. Floreano et al. 

2017. 58th Annual Meeting of the Biophysical-Society, San Francisco, CA, FEB 15-19, 2014. p. 289A-289A.

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.

Aerial Human-Comfortable Collision-free Navigation in Dense Environments

N. Dousse / D. Floreano (Dir.)  

Lausanne, EPFL, 2017. 

Disentangling constraints using viability evolution principles in integrative modeling of macromolecular assemblies

G. E. Tamo; A. Maesani; S. Träger; M. Degiacomi; D. Floreano et al. 

Scientific Reports. 2017. Vol. 7, num. 235. DOI : 10.1038/s41598-017-00266-w.

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.

Climbing favours the tripod gait over alternative faster insect gaits

P. Ramdya; R. Thandiackal; R. Cherney; T. Asselborn; R. Benton et al. 

Nature Communications. 2017. Vol. 8, p. 14494. DOI : 10.1038/ncomms14494.

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

Aerial Locomotion in Cluttered Environments

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

2016. 15th International Symposium of Robotics Research (ISRR), Flagstaff, AZ, DEC 09-12, 2011. p. 21-39. DOI : 10.1007/978-3-319-29363-9_2.

Non-invasive drawable electrode for neuromuscular electrical stimulation and biological signal sensing

A. Maesani; A. Biasiucci; S. S. G. Varricchio 

US2017273590; EP3191171; WO2016038545.

2016.

Foldable and self-deployable aerial vehicle

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

US9446845; WO2016066790; US2016122016.

2016.

Neuroprosthetic System Restoring Upper Limb Function Through Coordinated Electrical Stimulation

A. Biasiucci; A. Maesani; H. Dimassi 

US10046161; US2016303369; EP3060113; WO2015059612.

2016.

Extension of a ground control interface for swarms of Small Drones

N. Dousse; G. Heitz; D. Floreano 

Artificial Life And Robotics. 2016. Vol. 21, num. 3, p. 308-316. DOI : 10.1007/s10015-016-0302-9.

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.

Biomimetic Underwater Robots Based on Dielectric Elastomer Actuators

J. Shintake; H. Shea; D. Floreano 

2016. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14. p. 4957-4962.

Variable Stiffness Fiber with Self-Healing Capability

A. Tonazzini; S. Mintchev; B. Schubert; B. Mazzolai; J. Shintake et al. 

Advanced Materials. 2016. Vol. 28, num. 46, p. 10105. DOI : 10.1002/adma.201602580.

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.

Evolutionary Robotics

S. Nolfi; J. Bongard; P. Husbands; D. Floreano 

Handbook of Robotics; Berlin: Springer Verlag, 2016. p. 2035-2068.

Evolution in Cognition 2016 Chairs’ Welcome

S. Doncieux; J. E. Auerbach; R. J. Duro; H. P. De Vladar 

2016. GECCO ’16, Denver, Colorado, USA, 20-24 07 2016. p. 1043-1045. DOI : 10.1145/2908961.2931670.

Darwinian Dynamics of Embodied Chaotic Exploration

Y. Shim; J. E. Auerbach; P. Husbands 

2016. GECCO ’16, Denver, Colorado, USA, 20-24 07 2016. p. 1053-1056. DOI : 10.1145/2908961.2931673.

Gaining Insight into Quality Diversity

J. E. Auerbach; G. Iacca; D. Floreano 

2016. GECCO ’16, Denver, Colorado, USA, 20-24 07 2016. p. 1061-1064. DOI : 10.1145/2908961.2931675.

The Seamless Peer and Cloud Evolution Framework

G. Leclerc; J. E. Auerbach; G. Iacca; D. Floreano 

2016. GECCO ’16, Denver, Colorado, USA, 20-24 07 2016. p. 821-828. DOI : 10.1145/2908812.2908886.

Soft compliant gripper for safe manipulation of extremely fragile objects

H. Shea; J. Shintake; D. Floreano 

SPIE Newsroom. 2016. DOI : 10.1117/2.1201603.006409.

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. 

Versatile soft grippers with intrinsic electroadhesion based on multifunctional polymer actuators

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

Advanced Materials. 2016. Vol. 28, num. 2, p. 231-238. DOI : 10.1002/adma.201504264.

Memetic Viability Evolution for Constrained Optimization

A. Maesani; G. Iacca; D. Floreano 

IEEE Transactions on Evolutionary Computation. 2016. Vol. 20, num. 1, p. 125-144. DOI : 10.1109/TEVC.2015.2428292.

Dynamic Routing for Flying Ad Hoc Networks

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

IEEE Transactions 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.

Fluctuation-driven neural dynamics reproduce Drosophila locomotor patterns

A. Maesani; P. Ramdya; S. Cruchet; K. Gustafson; R. Benton et al. 

Plos Computational Biology. 2015. Vol. 11, num. 11, p. e1004577. DOI : 10.1371/journal.pcbi.1004577.

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.

An artificial elementary eye with optic flow detection and compositional properties

R. Pericet-Camara; M. K. Dobrzynski; R. Juston; S. Viollet; R. Leitel et al. 

Journal of the Royal Society Interface. 2015. Vol. 12, p. 20150414. DOI : 10.1098/rsif.2015.0414.

Variable Stiffness Actuator for Soft Robotics Using Dielectric Elastomer and Low-Melting-Point Alloy

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

2015. International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 – October 02, 2015. p. 1097-1102. DOI : 10.1109/IROS.2015.7353507.

Rapid Evolution of Robot Gaits

J. E. Auerbach; G. H. M. Heitz; P. M. Kornatowski; D. Floreano 

2015. GECCO ’15, Madrid, Spain, July 11-15, 2015. p. 743-744. DOI : 10.1145/2739482.2764894.

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.

A small-scale hyperacute compound eye featuring active eye tremor: application to visual stabilization, target tracking, and short-range odometry

F. Colonnier; A. Manecy; R. Juston; H. Mallot; R. Leitel et al. 

Bioinspiration & Biomimetics. 2015. Vol. 10, num. 2. DOI : 10.1088/1748-3190/10/2/026002.

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.

DEA for soft robotics: 1-gram actuator picks up a 60-gram egg

J. Shintake; S. Rosset; B. E. Schubert; S. Mintchev; D. Floreano et al. 

2015. Electroactive Polymer Actuators and Devices (EAPAD), San Diego, March 2015. p. 94301S. DOI : 10.1117/12.2084043.

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.

Mechanosensory interactions drive collective behaviour in Drosophila

P. Ramdya; P. Lichocki; S. Cruchet; L. Frisch; W. Tse et al. 

Nature. 2015. Vol. 519, p. 233-236. DOI : 10.1038/nature14024.

Viability evolutionary algorithms and applications to neuroscience and biology

A. Maesani / D. Floreano (Dir.)  

Lausanne, EPFL, 2015. 

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.