Publications associées à Aile volante

Aerodynamic modeling of a delta-wing UAV for model-based navigation

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Jan Skaloud, Gabriel François Laupré

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

2023

How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Dario Floreano, William John Stewart, Enrico Ajanic, Matthias Müller

There is a growing interest in unmanned aerial vehicles (UAVs) grasping, perching, and interacting with their surroundings by means of claws, arms, hooks, and other appendages. While multirotor vehicles can slowly lower onto a target object and grasp it, w ...

2022

A Lightweight Device for Energy Harvesting from Power Lines with a Fixed-Wing UAV

Dario Floreano, William John Stewart

Modern UAVs (Unmanned Aerial Vehicles) suffer from restrictions in flight range and time due to battery capacity limitations. One way to overcome these limitations is to harvest energy from overhead power lines. A growing body of scientific literature has ...

IEEE2022

Aerodynamic characterization of a delta-wing UAV based on real flight data

Jan Skaloud, Gabriel François Laupré, Pasquale Longobardi

Vehicle Dynamic Model based navigation represents a novel approach to autonomous navigation for small UAVs. It significantly improves the navigation solution under GNSS outage condition without adding additional sensors to the platform. This paper proposes ...

IEEE2021

Passive Perching with Energy Storage for Winged Aerial Robots

Dario Floreano, Yegor Piskarev, William John Stewart, Luca Guarino

Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic e ...

2021

A bioinspired Separated Flow wing provides turbulence resilience and aerodynamic efficiency for miniature drones

Stefano Mintchev, Matteo Di Luca

Small-scale drones have enough sensing and computing power to find use across a growing number of applications. However, flying in the low-Reynolds number regime remains challenging. High sensitivity to atmospheric turbulence compromises vehicle stability ...

AMER ASSOC ADVANCEMENT SCIENCE2020

Human-friendly solutions for last-centimeter drone delivery

Przemyslaw Mariusz Kornatowski

The popularity of delivery drones is constantly increasing due to their ability to deliver packages more rapidly and economically than current transportation methods. Consequently, drones have been employed by logistics companies for delivering payloads to ...

EPFL2020

On raw inertial measurements in dynamic networks

Jan Skaloud, Davide Antonio Cucci

Dynamic Networks have been introduced in the literature to solve multi-sensor fusion problems for navigation and mapping. They have been shown to outperform conventional methods in challenging scenarios, such as corridor mapping or self-calibration. In thi ...

2019

Lake Imaging and Monitoring Aerial Drone

David Andrew Barry, Ludovic Zulliger, Jean-Luc Liardon, Karl Johannes Kangur, Nawaaz Sidharth Gujja Shaik, Lukas Oliver Hostettler

We describe the development of a BVLOS (Beyond Visual Line-Of-Sight) model aircraft (UAV). The broad design requirements included (i) fuselage capable of accommodating an imaging package or other instrumentation, (ii) suitability for over-lake BVLOS author ...

2018

Detecting Flying Objects using a Single Moving Camera

Pascal Fua, Vincent Lepetit, Artem Rozantsev

We propose an approach for detecting flying objects such as Unmanned Aerial Vehicles (UAVs) and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. We a ...

2017

Positioning Autonomy of a Fixed-Wing UAV through VDM/INS Integration with Experimental Results

Jan Skaloud, Mehran Khaghani

In this paper, practical realization of a previously proposed VDM based integrated navigation for UAVs is presented. This method utilizes the vehicle dynamic model (VDM) fed by autopilot control commands as main process model within the navigation filter a ...

2017

Vision-based detection of aircrafts and UAVs

Artem Rozantsev

Unmanned Aerial Vehicles are becoming increasingly popular for a broad variety of tasks ranging from aerial imagery to objects delivery. With the expansion of the areas, where drones can be efficiently used, the collision risk with other flying objects inc ...

EPFL2017

Photogrammetric Mission Planner for RPAS

Jan Skaloud, Martin Rehak, Florian Gandor

This paper presents a development of an open-source flight planning tool for Remotely Piloted Aircraft Systems (RPAS) that is dedicated to high-precision photogrammetric mapping. This tool contains planning functions that are usually available in professio ...

2015

A Collision Resilient Flying Robot

Dario Floreano, Jean-Christophe Zufferey, 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

Vertical take-off and landing aerial vehicle

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

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

Design of Flying Robots for Collision Absorption and Self-Recovery

Adam Klaptocz

Flying robots have the unique advantage of being able to move through the air unaffected by the obstacles or precipices below them. This ability quickly becomes a disadvantage, however, as the amount of free space is reduced and the risk of collisions incr ...

EPFL2012

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

Dario Floreano, Mirko Kovac, Jean-Christophe Zufferey, Wassim Hraiz, Oriol Fauria Torrent

Recent work suggests that wings can be used to prolong the jumps of miniature jumping robots. However, no functional miniature jumping robot has been presented so far that can successfully apply this hybrid locomotion principle. In this publication, we pre ...

2011

Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics

Severin Leven

For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as effic ...

EPFL2011