Publications by Adrien Briod | EPFL Graph Search

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

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod

We aim at developing autonomous miniature hovering flying robots capable of navigating in unstructured GPS-denied environments. A major challenge is the miniaturization of the embedded sensors and processors that allow such platforms to fly by themselves. ...

Springer Verlag2016

Vertical take-off and landing aerial vehicle

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Adam Klaptocz, Ludovic Daler, Arnaud Garnier, Przemyslaw Mariusz Kornatowski

A VTOL (vertical take-off and landing) aerial flying vehicle comprising an inner frame, a gimbal system and an outer frame, the inner frame comprising a propulsion system and a control system, the propulsion system being able to generate a lift force. The ...

2014

Robust Autonomous Flight in Unstructured Environments

Adrien Briod

EPFL2014

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

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod

A new method for the estimation of ego-motion (the direction and amplitude of the velocity) of a mobile device comprising optic-flow and inertial sensors (hereinafter the apparatus). The velocity is expressed in the apparatus's reference frame, which is mo ...

2014

A Collision Resilient Flying Robot

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Przemyslaw Mariusz Kornatowski

Flying robots that can locomote efficiently in GPS-denied cluttered environments have many applications, such as in search and rescue scenarios. However, dealing with the high amount of obstacles inherent to such environments is a major challenge for flyin ...

John Wiley & Sons2014

Euler Spring Collision Protection for Flying Robots

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Adam Klaptocz, Ludovic Daler

This paper addresses the problem of adequately protecting flying robots from damage resulting from collisions that may occur when exploring constrained and cluttered environments. A method for designing protective structures to meet the specific constraint ...

2013

Contact-based navigation for an autonomous flying robot

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Adam Klaptocz, Arnaud Garnier, Marco Pagnamenta, Przemyslaw Mariusz Kornatowski

Autonomous navigation in obstacle-dense indoor environments is very challenging for flying robots due to the high risk of collisions, which may lead to mechanical damage of the platform and eventual failure of the mission. While conventional approaches in ...

2013

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

Dario Floreano, Adrien Briod, Adam Klaptocz, Ludovic Daler, Metin Sitti

Robots capable of hover flight in constrained indoor environments have many applications, however their range is constrained by the high energetic cost of airborne locomotion. Perching allows flying robots to scan their environment without the need to rema ...

2013

Optic-Flow Based Control of a 46g Quadrotor

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod

We aim at developing autonomous miniature hov- ering flying robots capable of navigating in unstructured GPS- denied environments. A major challenge is the miniaturization of the embedded sensors and processors allowing such platforms to fly autonomously. ...

2013

Automatically calibrating the viewing direction of optic-flow sensors

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod

Because of their low weight, cost and energy consumption, optic-flow sensors attract growing interest in robotics for tasks such as self-motion estimation or depth measurement. Most applications require a large number of these sensors, which involves a fai ...

IEEE2012

The AirBurr: A Flying Robot That Can Exploit Collisions

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Adam Klaptocz

Research made over the past decade shows the use of increasingly complex methods and heavy platforms to achieve autonomous flight in cluttered environments. However, efficient behaviors can be found in nature where limited sensing is used, such as in insec ...

2012

An Active Uprighting Mechanism for Flying Robots

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Adam Klaptocz, Ludovic Daler

Flying robots have unique advantages in the exploration of cluttered environments such as caves or collapsed buildings. Current systems however have difficulty in dealing with the large amount of obstacles inherent to such environments. Collisions with obs ...

Ieee-Inst Electrical Electronics Engineers Inc2012

An Indoor Flying Platform with Collision Robustness and Self-Recovery

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Adam Klaptocz, Grégoire Boutinard Rouelle

This paper presents a new paradigm in the design of indoor flying robots that replaces collision avoidance with collision robustness. Indoor flying robots must operate within constrained and cluttered environments where even nature’s most sophisticated fly ...

IEEE2010