Research

A powerful platform for research

Flexible

The Crazyflie is the ideal tool for research in areas such as control algorithms, swarms, path finding, agriculture or failure recovery. The platform is designed to be as flexible and versatile as possible to enable the user to explore the area of interest.

Extendable

Add new sensors or other hardware to support your needs; the expansion port supports a variety of interfaces and there is plenty of power in the processors for you to use. If you need more lifting capacity, use the BigQuad deck and move your application to a bigger frame, while still being able to develop it in the comfort of your lab.

Tools

The Crazyflie can be controlled from a number of programming languages and also integrates with tools and frameworks such as ROS or ZeroMQ. It works well with standard development tools to make your work a breeze.

Open source

The entire firmware is open for you to change, you will never be locked in by limited APIs or closed software. Never.

Review our YouTube playlist for a collection of videos showing the Crazyflie being used for research.

For guest blog posts from researchers, and other research-related blog posts, check out the research category on our blog.

Publications

[1] AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space. Vivek K. Adajania, Siqi Zhou, Arun Kumar Singh, and Angela P. Schoellig. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[2] Flock-Formation Control of Multi-Agent Systems using Imperfect Relative Distance Measurements. Andreas Brandstätter, Scott A. Smolka, Scott D. Stoller, Ashish Tiwari, and Radu Grosu. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[3] Learning Decentralized Flocking Controllers with Spatio-Temporal Graph Neural Network. Siji Chen, Yanshen Sun, Peihan Li, Lifeng Zhou, and Chang-Tien Lu. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[4] High-throughput Visual Nano-drone to Nano-drone Relative Localization using Onboard Fully Convolutional Networks. Luca Crupi, Alessandro Giusti, and Daniele Palossi. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[5] HyperPPO: A scalable method for finding small policies for robotic control. Shashank Hegde, Zhehui Huang, and Gaurav S. Sukhatme. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[6] Collision Avoidance and Navigation for a Quadrotor Swarm Using End-to-end Deep Reinforcement Learning. Zhehui Huang, Zhaojing Yang, Rahul Krupani, Baskın Şenbaşlar, Sumeet Batra, and Gaurav S. Sukhatme. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[7] From Shadows to Light: A Swarm Robotics Approach With Onboard Control for Seeking Dynamic Sources in Constrained Environments. Tugay Alperen Karagüzel, Victor Retamal, Nicolas Cambier, and Eliseo Ferrante. IEEE Robotics and Automation Letters, 2024. DOI.
[8] A Sim-to-Real Deep Learning-Based Framework for Autonomous Nano-Drone Racing. Lorenzo Lamberti, Elia Cereda, Gabriele Abbate, Lorenzo Bellone, Victor Javier Kartsch Morinigo, Michał Barciś, Agata Barciś, Alessandro Giusti, Francesco Conti, and Daniele Palossi. IEEE Robotics and Automation Letters, 2024. DOI.
[9] Lorenzo Lamberti, Georg Rutishauser, Francesco Conti, and Luca Benini. Combining local and global perception for autonomous navigation on nano-uavs. 2024. Eprint.
[10] CrazySim: A Software-in-the-Loop Simulator for the Crazyflie Nano Quadrotor. Christian Llanes, Zahi Kakish, Kyle Williams, and Samuel Coogan. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[11] Exploring Jamming and Hijacking Attacks for Micro Aerial Drones. Yassine Mekdad, Abbas Acar, Ahmet Aris, Abdeslam El Fergougui, Mauro Conti, Riccardo Lazzeretti, and Selcuk Uluagac. In ICC 2024-IEEE International Conference on Communications. IEEE, 2024. DOI.
[12] db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning. Akmaral Moldagalieva, Joaquim Ortiz-Haro, Marc Toussaint, and Wolfgang Hönig. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[13] TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. Khai Nguyen, Sam Schoedel, Anoushka Alavilli, Brian Plancher, and Zachary Manchester. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[14] Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints. Adam Seewald, Cameron J. Lerch, Marvin Chancán, Aaron M. Dollar, and Ian Abraham. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[15] Practical and Safe Navigation Function Based Motion Planning of UAVs. Himani Sinhmar, Marcus Greiff, and Stefano Di Cairano. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[16] Optimal Collaborative Transportation for Under-Capacitated Vehicle Routing Problems using Aerial Drone Swarms. Akash Kopparam Sreedhara, Deepesh Padala, Shashank Mahesh, Kai Cui, Mengguang Li, and Heinz Koeppl. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[17] Hierarchical Meta-learning-based Adaptive Controller. Fengze Xie, Guanya Shi, Michael O’Connell, Yisong Yue, and Soon-Jo Chung. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[18] Synthesize Efficient Safety Certificates for Learning-Based Safe Control using Magnitude Regularization. Haotian Zheng, Haitong Ma, Sifa Zheng, Shengbo Eben Li, and Jianqiang Wang. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[19] Fully Onboard Low-Power Localization with Semantic Sensor Fusion on a Nano-UAV using Floor Plans. Nicky Zimmerman, Hanna Müller, Michele Magno, and Luca Benini. In 2024 IEEE International Conference on Robotics and Automation (ICRA). 2024. DOI.
[20] Safe Operations of an Aerial Swarm via a Cobot Human Swarm Interface. Sydrak S Abdi and Derek A Paley. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[21] AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments. Vivek K Adajania, Siqi Zhou, Arun Kumar Singh, and Angela P Schoellig. In 2023 IEEE International Conference on Robotics and Automation (ICRA). 2023.
[22] Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering. Peter Antal, Tamas Peni, and Roland Toth. arXiv preprint arXiv:2306.09651, 2023.
[23] A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control. Ryan M Bena, Sushmit Hossain, Buyun Chen, Wei Wu, and Quan Nguyen. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[24] Ultra-low Power Deep Learning-based Monocular Relative Localization Onboard Nano-quadrotors. Stefano Bonato, Stefano Carlo Lambertenghi, Elia Cereda, Alessandro Giusti, and Daniele Palossi. arXiv preprint arXiv:2303.01940, 2023.
[25] Nanoflownet: Real-time dense optical flow on a nano quadcopter. Rik J Bouwmeester, Federico Paredes-Vallés, and Guido CHE de Croon. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[26] Epistemic Planning for Heterogeneous Robotic Systems. Lauren Bramblett and Nicola Bezzo. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[27] Multi-Agent Spatial Predictive Control with Application to Drone Flocking. Andreas Brandstätter, Scott A Smolka, Scott D Stoller, Ashish Tiwari, and Radu Grosu. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[28] A Self-Rotary Aerial Robot With Passive Compliant Variable-Pitch Wings. Xinyu Cai, Luke Soe Thura Win, Brian Leonard Suhadi, Hitesh Bhardwaj, and Shaohui Foong. IEEE Robotics and Automation Letters, 2023.
[29] An Interacting Multiple Model Approach Based on Maximum Correntropy Student’s T Filter. Fethi Candan, Aykut Beke, and Lyudmila Mihaylova. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[30] Deep Neural Network Architecture Search for Accurate Visual Pose Estimation aboard Nano-UAVs. Elia Cereda, Luca Crupi, Matteo Risso, Alessio Burrello, Luca Benini, Alessandro Giusti, Daniele Jahier Pagliari, and Daniele Palossi. arXiv preprint arXiv:2303.01931, 2023.
[31] Enhancing Sample Efficiency and Uncertainty Compensation in Learning-Based Model Predictive Control for Aerial Robots. Kong Yao Chee, Thales C. Silva, M. Ani Hsieh, and George J. Pappas. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[32] Sim-to-Real Vision-Depth Fusion CNNs for Robust Pose Estimation Aboard Autonomous Nano-quadcopters. Luca Crupi, Elia Cereda, Alessandro Giusti, and Daniele Palossi. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[33] Scalable task-driven robotic swarm control via collision avoidance and learning mean-field control. Kai Cui, Mengguang Li, Christian Fabian, and Heinz Koeppl. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[34] Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions. Desong Du, Shaohang Han, Naiming Qi, Haitham Bou Ammar, Jun Wang, and Wei Pan. arXiv preprint arXiv:2305.09793, 2023.
[35] Forming and Controlling Hitches in Midair Using Aerial Robots. Diego S D’Antonio, Subhrajit Bhattacharya, and David Saldana. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[36] Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge. Chiara Ercolani, Shashank Mahendra Deshmukh, Thomas Laurent Peeters, and Alcherio Martinoli. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[37] RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research. Spencer Folk, James Paulos, and Vijay Kumar. arXiv preprint arXiv:2306.04485, 2023.
[38] Comparing Quadrotor Control Policies for Zero-Shot Reinforcement Learning under Uncertainty and Partial Observability. Sven Gronauer, Daniel Stümke, and Klaus Diepold. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[39] Neural Network-Based Motion Control Algorithm for Perching Nano-Quadrotor on Outdoor Vertical Surface. Sandeep Gupta and Laxmidhar Behera. In Proceedings of International Conference on Computational Intelligence. Springer, 2023.
[40] Inverted Landing in a Small Aerial Robot via Deep Reinforcement Learning for Triggering and Control of Rotational Maneuvers. Bryan Habas, Jack W Langelaan, and Bo Cheng. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[41] Real-Time Failure-Adaptive Control for Dynamic Robots. Jacob Hackett and Christian Hubicki. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[42] A Model Predictive Path Integral Method for Fast, Proactive, and Uncertainty-Aware UAV Planning in Cluttered Environments. Jacob Higgins, Nicholas Mohammad, and Nicola Bezzo. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[43] Energy efficient perching and takeoff of a miniature rotorcraft. Yi-Hsuan Hsiao, Songnan Bai, Yongsen Zhou, Huaiyuan Jia, Runze Ding, Yufeng Chen, Zuankai Wang, and Pakpong Chirarattananon. Communications Engineering, 2023.
[44] High-Gain Disturbance Observer for Robust Trajectory Tracking of Quadrotors. Mohammadreza Izadi and Reza Faieghi. arXiv preprint arXiv:2305.19115, 2023.
[45] Quadrolltor: A Reconfigurable Quadrotor With Controlled Rolling and Turning. Huaiyuan Jia, Runze Ding, Kaixu Dong, Songnan Bai, and Pakpong Chirarattananon. IEEE Robotics and Automation Letters, 2023. DOI.
[46] Pauline Morch Jonassen and Helene Torlen Lonvik. An exploration of techniques for electroencephalography based motor imagery classification for real-time drone control. Master’s thesis, Norwegian University of Science and Tecnology, 2023.
[47] Onboard Controller Design for Nano UAV Swarm in Operator-Guided Collective Behaviors. Tugay Alperen Karagüzel, Victor Retamal, and Eliseo Ferrante. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[48] Statistical safety and robustness guarantees for feedback motion planning of unknown underactuated stochastic systems. Craig Knuth, Glen Chou, Jamie Reese, and Joseph Moore. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[49] Multi-target pursuit by a decentralized heterogeneous uav swarm using deep multi-agent reinforcement learning. Maryam Kouzeghar, Youngbin Song, Malika Meghjani, and Roland Bouffanais. arXiv preprint arXiv:2303.01799, 2023.
[50] Experimental Validation of a Distributed Norm-Free and Adaptive Event-Triggered Control Approach on an Aerial Multiagent System. Deniz Kurtoglu, Jesse Jaramillo, Stefan Ristevski, Andrya Pimentel, Tansel Yucelen, and Jonathan A Muse. In AIAA SCITECH 2023 Forum. 2023.
[51] Bio-inspired Autonomous Exploration Policies with CNN-based Object Detection on Nano-drones. Lorenzo Lamberti, Luca Bompani, Victor Javier Kartsch, Manuele Rusci, Daniele Palossi, and Luca Benini. arXiv preprint arXiv:2301.12175, 2023. ArXiv, DOI.
[52] Safety-critical ergodic exploration in cluttered environments via control barrier functions. Cameron Lerch, Dayi Dong, and Ian Abraham. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[53] Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning. Cheng Liu, Erik-Jan van Kampen, and Guido CHE de Croon. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[54] Air-M: A Visual Reality Many-Agent Reinforcement Learning Platform for Large-Scale Aerial Unmanned System. Jiabin Lou, Wenjun Wu, Shuhao Liao, and Rongye Shi. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[55] Scalability of Cyber-Physical Systems in Mixed Reality Experiences in ROS 2. Francisco Jose Manas-Alvarez, Maria Guinaldo, Raquel Dormido, and Sebastian Dormido-Canto. Preprints, 2023.
[56] Relay Pursuit for Multirobot Target Tracking on Tile Graphs. Shashwata Mandal and Sourabh Bhattacharya. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[57] Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System. Katherine Mao, Jake Welde, M Ani Hsieh, and Vijay Kumar. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[58] Robust and Efficient Depth-Based Obstacle Avoidance for Autonomous Miniaturized UAVs. Hanna Müller, Vlad Niculescu, Tommaso Polonelli, Michele Magno, and Luca Benini. IEEE Transactions on Robotics, 2023. DOI.
[59] Multi-intersection planning with durational speed scheduling for drone corridors. Samiksha R Nagrare, Ashwini Ratnoo, and Debasish Ghose. In AIAA SCITECH 2023 Forum. 2023.
[60] Direct Angular Rate Estimation Without Event Motion-Compensation At High Angular Rates. Matthew Ng, Xinyu Cai, and Shaohui Foong. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[61] Decentralized Deadlock-free Trajectory Planning for Quadrotor Swarm in Obstacle-rich Environments. Jungwon Park, Inkyu Jang, and H Jin Kim. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[62] A Distributed Online Optimization Strategy for Cooperative Robotic Surveillance. Lorenzo Pichierri, Guido Carnevale, Lorenzo Sforni, Andrea Testa, and Giuseppe Notarstefano. arXiv preprint arXiv:2304.14016, 2023.
[63] CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2. Lorenzo Pichierri, Andrea Testa, and Giuseppe Notarstefano. arXiv preprint arXiv:2302.00716, 2023. ArXiv, DOI.
[64] Multi-sensory Anti-collision Design for Autonomous Nano-swarm Exploration. Mahyar Pourjabar, Manuele Rusci, Luca Bompani, Lorenzo Lamberti, Vlad Niculescu, Daniele Palossi, and Luca Benini. In 2023 30th IEEE International Conference on Electronics, Circuits and Systems (ICECS). 2023. DOI.
[65] Coordination of Bounded Rational Drones Through Informed Prior Policy. Durgakant Pushp, Junhong Xu, and Lantao Liu. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[66] Offline Reinforcement Learning for Quadrotor Control: Overcoming the Ground Effect. Luca Sacchetto, Mathias Korte, Sven Gronauer, Matthias Kissel, and Klaus Diepold. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[67] Optimal Path Planning in Distinct Topo-Geometric Classes using Neighborhood-augmented Graph and its Application to Path Planning for a Tethered Robot in 3D. Alp Sahin and Subhrajit Bhattacharya. arXiv preprint arXiv:2306.01203, 2023.
[68] PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G. Viswa Narayanan Sankaranarayanan, Gerasimos Damigos, Achilleas Santi Seisa, Sumeet Gajanan Satpute, Tore Lindgren, and George Nikolakopoulos. arXiv preprint arXiv:2301.13097, 2023. ArXiv, DOI.
[69] Distributed Model Predictive Formation Control of Robots with Sampled Trajectory Sharing in Cluttered Environments. Sami Satir, Yasin Furkan Aktaş, Simay Atasoy, Mert Ankarali, and Erol Şahin. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[70] A Relative Infrastructure-less Localization Algorithm for Decentralized and Autonomous Swarm Formation. Dominik Schindler, Vlad Niculescu, Tommaso Polonelli, Daniele Palossi, Luca Benini, and Michele Magno. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[71] Sequential Manipulation Planning for Over-Actuated Unmanned Aerial Manipulators. Yao Su, Jiarui Li, Ziyuan Jiao, Meng Wang, Chi Chu, Hang Li, Yixin Zhu, and Hangxin Liu. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[72] A negative imaginary theory-based time-varying group formation tracking scheme for multi-robot systems: Applications to quadcopters. Yu-Hsiang Su, Parijat Bhowmick, and Alexander Lanzon. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
[73] Experimental Evaluation of Multi-Agent System Collision-Free Coordination Using Ideal Fluid-Flow Models. Harshvardhan Uppaluru and Hossein Rastgoftar. arXiv preprint arXiv:2301.05833, 2023. ArXiv, DOI.
[74] tinySLAM-based exploration with a swarm of nano-UAVs. Mattias Vikgren and Johan Markdahl. In 7th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM). 2023.
[75] Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions. Zach Williams, Jushan Chen, and Negar Mehr. arXiv preprint arXiv:2303.04842, 2023.
[76] SBlimp: Design, Model, and Translational Motion Control for a Swing-Blimp. Jiawei Xu, Diego S. D’Antonio, Dominic J. Ammirato, and David Saldaña. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[77] Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments. Dengyu Zhang, Xinyu Zhang, Zheng Zhang, Bo Zhu, and Qingrui Zhang. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[78] IF-Based Trajectory Planning and Cooperative Control for Transportation System of Cable Suspended Payload With Multi UAVs. Yu Zhang, Jie Xu, Cheng Zhao, and Jiuxiang Dong. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023. DOI.
[79] Towards an Open-Source Fully Modular Multi Unmanned Aerial Vehicle Simulation Framework. Tobias Hardes, Dalisha Logan, Touhid Hossain Pritom, and Christoph Sommer. In 15th IEEE International Workshop on Wireless Sensor, Robot and UAV Networks. Bologna, Italy, Jul 2022. IEEE.
[80] Reliable Digital Forensics in the Air: Exploring an RF-Based Drone Identification System. Zhengxiong Li, Baicheng Chen, Xingyu Chen, Chenhan Xu, Yuyang Chen, Feng Lin, Changzhi Li, Karthik Dantu, Kui Ren, and Wenyao Xu. Proc. ACM Interact. Mob. Wearable Ubiquitous Technol., jul 2022. URL, DOI.
[81] Safe and Robust Observer-Controller Synthesis using Control Barrier Functions. Devansh R. Agrawal and Dimitra Panagou. IEEE Control Systems Letters, 2022. DOI.
[82] A Set-based Motion Planning Algorithm for Aerial Vehicles in the Presence of Obstacles Exhibiting Hybrid Dynamics. Adam Ames, Nan Wang, and Ricardo G Sanfelice. In 2022 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2022.
[83] Backflipping with Miniature Quadcopters by Gaussian Process Based Control and Planning. Peter Antal, Tamas Peni, and Roland Toth. arXiv preprint arXiv:2209.14652, 2022.
[84] Moa Arvidsson and Sithichot Sawirot. Drone navigation and license plate recognition for vehicle search and classification. Master’s thesis, Halmstad University, 2022.
[85] UAVs for Industries and Supply Chain Management. Shrutarv Awasthi, Nils Gramse, Dr Reining, Moritz Roidl, and others. arXiv preprint arXiv:2212.03346, 2022.
[86] Dynamic Time Slot Allocation Algorithm for Quadcopter Swarms. Sharif Azem, Anam Tahir, and Heinz Koeppl. In 2022 IEEE 19th Annual Consumer Communications Networking Conference (CCNC). 2022. DOI.
[87] SplitFlyer Air: A Modular Quadcopter That Disassembles Into Two Bicopters Mid-Air. Songnan Bai and Pakpong Chirarattananon. IEEE/ASME Transactions on Mechatronics, 2022. DOI.
[88] A micro aircraft with passive variable-sweep wings. Songnan Bai, Runze Ding, and Pakpong Chirarattananon. IEEE Robotics and Automation Letters, 2022.
[89] A bioinspired revolving-wing drone with passive attitude stability and efficient hovering flight. Songnan Bai, Qingning He, and Pakpong Chirarattananon. Science Robotics, 2022. Video, Eprint, DOI.
[90] Agata Maria Barcis. Synchronizing and Swarming Robots. PhD thesis, University of Klagenfurt, 2022.
[91] Self-organized Chain Formation of Nano-Drones in an Open Space. Agata Barciś, Michał Barciś, Enrico Natalizio, and Eliseo Ferrante. In International Conference on Swarm Intelligence. Springer, 2022.
[92] Micro-drone ego-velocity and height estimation in GPS-denied environments using a FMCW MIMO Radar. Jeremy Barra, Thierry Creuzet, Suzanne Lesecq, Gerard Scorletti, Eric Blanco, and Mykhailo Zarudniev. IEEE Sensors Journal, 2022. DOI.
[93] SwarMan: Anthropomorphic Swarm of Drones Avatar with Body Tracking and Deep Learning-Based Gesture Recognition. Ahmed Baza, Ayush Gupta, Ekaterina Dorzhieva, Aleksey Fedoseev, and Dzmitry Tsetserukou. In 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC). IEEE, 2022.
[94] A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polynomial Environments. Logan E Beaver, Roberto Tron, and Christos G Cassandras. arXiv preprint arXiv:2211.05251, 2022.
[95] Coverage Path Planning for Unmanned Aerial Vehicles in Complex 3D Environments with Deep Reinforcement Learning. Julian Bialas and Mario Doller. In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). 2022. DOI.
[96] Rik Bouwmeester. Nanoflownet: real-time optical flow estimation on a nano quadcopter. Master’s thesis, Delft University of Technology, 2022. Eprint.
[97] NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter. Rik J Bouwmeester, Federico Paredes-Vallés, and Guido CHE de Croon. arXiv preprint arXiv:2209.06918, 2022.
[98] Towards drone flocking using relative distance measurements. Andreas Brandstätter, Scott A Smolka, Scott D Stoller, Ashish Tiwari, and Radu Grosu. In International Symposium on Leveraging Applications of Formal Methods. Springer, 2022.
[99] Cooperative Modular Single Actuator Monocopters Capable of Controlled Passive Separation. Xinyu Cai, Shane Kyi Hla Win, Luke Soe Thura Win, Danial Sufiyan, and Shaohui Foong. In 2022 International Conference on Robotics and Automation (ICRA). 2022. DOI.
[100] Multi-robot pickup and delivery via distributed resource allocation. Andrea Camisa, Andrea Testa, and Giuseppe Notarstefano. IEEE Transactions on Robotics, 2022.
[101] Adaptive Control of Coupled-Multicopter Systems. Dimitris Chaikalis, Nikolaos Evangeliou, Anthony Tzes, and Farshad Khorrami. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). 2022. DOI.
[102] Modular Multi-Copter Structure Control for Cooperative Aerial Cargo Transportation. Dimitris Chaikalis, Nikolaos Evangeliou, Anthony Tzes, and Farshad Khorrami. arXiv preprint arXiv:2210.04571, 2022.
[103] Let’s Talk Through Physics! Covert Cyber-Physical Data Exfiltration on Air-Gapped Edge Devices. Matthew Chan, Nathaniel Snyder, Marcus Lucas, Luis Garcia, Oleg Sokolsky, James Weimer, Insup Lee, Paulo Tabuada, Saman Zonouz, and Mani Srivastava. arXiv preprint arXiv:2210.07531, 2022.
[104] LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations. Kong Yao Chee and M Ani Hsieh. arXiv preprint arXiv:2209.08185, 2022.
[105] Towards Specialized Hardware for Learning-based Visual Odometry on the Edge. Siyuan Chen and Ken Mai. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022. DOI.
[106] Soft Actor-Critic with Inhibitory Networks for Retraining UAV Controllers Faster. Minkyu Choi, Max Filter, Kevin Alcedo, Thayne T. Walker, David Rosenbluth, and Jaime S. Ide. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). 2022. DOI.
[107] Swarm UAV Implementation using radio localization on GPS denied Areas. Timothy Scott Chu, Alvin Chua, Marc Say, Edwin Sybingco, and Maria Antonette Roque. ASEAN Engineering Journal, 2022.
[108] A Performance Analysis on Drone Loco Posotioning System For Two-Way Ranging Protocol. Timothy Scott Chu, Alvin Chua, Edwin Sybingco, and Maria Antonette Roque. ASEAN Engineering Journal, 2022.
[109] Luca Crupi. Drone to human pose estimation with deep neural networks. Master’s thesis, Politecnico Di Torino, 2022.
[110] Scalable Task-Driven Robotic Swarm Control via Collision Avoidance and Learning Mean-Field Control. Kai Cui, Mengguang Li, Christian Fabian, and Heinz Koeppl. arXiv preprint arXiv:2209.07420, 2022.
[111] Accommodating unobservability to control flight attitude with optic flow. Guido CHE De Croon, Julien JG Dupeyroux, Christophe De Wagter, Abhishek Chatterjee, Diana A Olejnik, and Franck Ruffier. Nature, 2022.
[112] Passive Wall Tracking for a Rotorcraft With Tilted and Ducted Propellers Using Proximity Effects. Runze Ding, Yi-Hsuan Hsiao, Huaiyuan Jia, Songnan Bai, and Pakpong Chirarattananon. IEEE Robotics and Automation Letters, 2022. DOI.
[113] Passive Wall Tracking for a Rotorcraft With Tilted and Ducted Propellers Using Proximity Effects. Runze Ding, Yi-Hsuan Hsiao, Huaiyuan Jia, Songnan Bai, and Pakpong Chirarattananon. IEEE Robotics and Automation Letters, 2022. Video, DOI.
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