Aerial Robotics

We are interested in the study, design, and control of agile aerial robots with rich sensory and motor abilities that can move and work in very different environments: open skies, confined environments, on the ground, on vertical surfaces, in swarms, and near humans. We take inspiration from nature, where these systems abound, and translate biological mechanisms and principles into innovative machines and control systems.

Our work has also resulted in spin-offs, such as Sensefly (founded in 2009, now a Parrot group company) and Flyability (founded in 2015), which won the 2015 Drones for Good award.

Bioinspired dual-stiffness origami – Infoscience – link

Dual-stiffness origami drone

2019

D. Falanga; K. Kleber; S. Mintchev; D. Floreano; D. Scaramuzza : The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly; Ieee Robotics And Automation Letters. 2019-04-01. DOI : 10.1109/LRA.2018.2885575.
A. T. Cherpillod; S. Mintchev; D. Floreano : Embodied Flight with a Drone. 2019. 2019 Third IEEE International Conference on Robotic Computing (IRC), Naples, Italy, February 25-27, 2019.
E. Soria; F. Schiano; D. Floreano : The influence of limited visual sensing on the Reynolds flocking algorithm. 2019. The Third IEEE International Conference on Robotic Computing, Naples, Italy, February 25-27, 2019.

2018

P. Bai; B. Guerreiro; R. Cunha; P. M. Kornatowski; D. Floreano et al. : Wall-contact sliding control strategy for a 2D caged quadrotor. 2018-10-17. 18th International Conference on Control, Automation, and Systems, PyeongChang, GangWon Province, Korea, October 17-20, 2018.
J. Lecoeur; E. Baird; D. Floreano : Spatial Encoding of Translational Optic Flow in Planar Scenes by Elementary Motion Detector Arrays; Scientific Reports. 2018-04-11. DOI : 10.1038/s41598-018-24162-z.
M. A. Estrada; S. Mintchev; D. L. Christensen; M. R. Cutkosky; D. Floreano : Forceful manipulation with micro air vehicles; Science Robotics. 2018. DOI : 10.1126/scirobotics.aau6903.
P. Kornatowski; S. Mintchev; D. Floreano : Last-Centimeter Personal Drone Delivery: Field Deployment and User Interaction; IEEE Robotics and Automation Letters. 2018. DOI : 10.1109/LRA.2018.2856282.
S. Mintchev; J. Shintake; D. Floreano : Bioinspired dual-stiffness origami; Science Robotics. 2018. DOI : 10.1126/scirobotics.aau0275.
J. C. Miehlbradt; A. T. Cherpillod; S. Mintchev; M. Coscia; F. Artoni et al. : Data-driven body–machine interface for the accurate control of drones; Proceedings of the National Academy of Sciences. 2018. DOI : 10.1073/pnas.1718648115.
S. Mintchev; D. Floreano : A multi-modal hovering and terrestrial robot with adaptive morphology. 2018.

2017

M. Basiri; F. Schill; P. Lima; D. Floreano : Localization of emergency acoustic sources by micro aerial vehicles; Journal of Field Robotics. 2017. DOI : 10.1002/rob.21733.
D. Floreano; S. Mintchev; J. Shintake : Foldable Drones: from Biology to Technology. 2017. SPIE Bioinspiration, Biomimetics, and Bioreplication, Portland, Oregon, March 2017. p. 1016203-1 - 1016203-6. DOI : 10.1117/12.2259931.
S. Mintchev; S. D. de Rivaz; D. Floreano : Insect-Inspired Mechanical Resilience for Multicopters; IEEE Robotics and Automation Letters. 2017. DOI : 10.1109/LRA.2017.2658946.
M. di Luca; S. Mintchev; G. H. M. Heitz; F. Noca; D. Floreano : Bioinspired morphing wings for extended flight envelope and roll control of small drones; Interface Focus. 2017. DOI : 10.1098/rsfs.2016.0092.
N. Dousse; G. H. M. Heitz; F. S. Schill; D. Floreano : Human-Comfortable Collision Free Navigation for Personal Aerial Vehicles; IEEE Robotics and Automation Letter. 2017. DOI : 10.1109/LRA.2016.2626520.

2016

X. Hou; R. Mahony; F. Schill : Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots; Ieee Transactions On Systems Man Cybernetics-Systems. 2016. DOI : 10.1109/Tsmc.2015.2503396.
S. Mintchev; D. Floreano : A Pocket Sized Foldable Quadcopter for Situational Awareness and Reconnaissance. 2016. International Symposium on Safety, Security and Rescue Robotics (SSRR 2016), Lausanne, Switzerland, October 23-27th, 2016. p. 396-401.
S. Mintchev; D. Floreano : Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots; IEEE Robotics & Automation Magazine. 2016. DOI : 10.1109/MRA.2016.2580593.
L. Dufour; K. Owen; S. Mintchev; D. Floreano : A Drone with Insect-Inspired Folding Wings. 2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Daejeon, Korea, October 9-14, 2016. p. 1576-1581.
M. Basiri; F. S. Schill; P. Lima; D. Floreano : On-Board Relative Bearing Estimation for Teams of Drones Using Sound; IEEE Robotics and Automation Letters. 2016. DOI : 10.1109/LRA.2016.2527833.
M. Varga : Fixed-wing drones for communication networks. Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6859.
J. Shintake : Functional Soft Robotic Actuators Based on Dielectric Elastomers. Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6855.
S. Rosati; K. Kruzelecki; G. H. M. Heitz; D. Floreano; B. Rimoldi : Dynamic Routing for Flying Ad Hoc Networks; IEEE Transaction on Vehicular Technology. 2016. DOI : 10.1109/TVT.2015.2414819.

2015

A. Briod; J.-C. Zufferey; D. Floreano : A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environments; Autonomous Robots. 2015. DOI : 10.1007/s10514-015-9494-4.
N. Dousse; G. H. M. Heitz; D. Floreano : Extension of a Ground Control Interface for Swarms of Small Drones. 2015. SWARM 2015: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japon, October 28-30, 2015.
M. Varga; M. Basiri; G. H. M. Heitz; D. Floreano : Distributed Formation Control of Fixed Wing Micro Aerial Vehicles for Uniform Area Coverage. 2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany.
M. Varga; J.-C. Zufferey; G. H. M. Heitz; D. Floreano : Evaluation of control strategies for fixed-wing drones following slow-moving ground agents; Robotics and Autonomous Systems. 2015. DOI : 10.1016/j.robot.2015.06.003.
L. Daler : Adaptive Morphology for Multi-Modal Locomotion. Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6608.
D. Floreano; R. J. Wood : Science, technology and the future of small autonomous drones; Nature. 2015. DOI : 10.1038/nature14542.
S. Mintchev; L. Daler; G. L'Eplattenier; L. Saint-Raymond; D. Floreano : Foldable and Self-Deployable Pocket Sized Quadrotor. 2015. 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, Washington, USA, May 26-30, 2015.
A. Vidyasagar; J.-C. Zufferey; D. Floreano; M. Kovac : Performance analysis of jump-gliding locomotion for miniature robotics; Bioinspiration & Biomimetics. 2015. DOI : 10.1088/1748-3190/10/2/025006.
M. Basiri : Audio-based Positioning and Target Localization for Swarms of Micro Aerial Vehicles. Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6508.
L. Daler; S. Mintchev; C. Stefanini; D. Floreano : A bioinspired multi-modal flying and walking robot; Bioinspiration & Biomimetics. 2015. DOI : 10.1088/1748-3190/10/1/016005.
J. Shintake; S. Rosset; B. E. Schubert; D. Floreano; H. Shea : A Foldable Antagonistic Actuator; IEEE/ASME Transactions on Mechatronics. 2015. DOI : 10.1109/TMECH.2014.2359337.

2014

A. Briod; J.-c. Zufferey; D. Floreano ; Method to determine a direction and amplitude of a current velocity estimate of a moving device. US2015293138 ; EP2917693 ; WO2014072377 ; EP2730888 . 2014.
R. Leitel; A. Brückner; W. Buss; S. Viollet; R. Pericet Camara et al. : Curved artificial compound-eyes for autonomous navigation. 2014. Micro-Optics, Brussels, Belgium, APR 14-16, 2014. DOI : 10.1117/12.2052710.
R. Pericet Camara; G. Bahi Vila; J. Lecoeur; D. Floreano : Miniature artificial compound eyes for optic-flow-based robotic navigation. 2014. Workshop on Information Optics WIO2014, Neuchatel, Switzerland, July 7-11, 2014. p. 1-3. DOI : 10.1109/WIO.2014.6933290.
M. Basiri; F. S. Schill; D. Floreano; P. Lima : Audio-based Localization for Swarms of Micro Air Vehicles. 2014. IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7, 2014. p. 4729-4734. DOI : 10.1109/ICRA.2014.6907551.
A. Briod; P. M. Kornatowski; J.-C. Zufferey; D. Floreano : A Collision Resilient Flying Robot; Journal of Field Robotics. 2014. DOI : 10.1002/rob.21495.

2013

M. Basiri; F. Schill; D. Floreano; P. Lima : Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems. 2013. Robotics: Science and Systems RSS2013, Berlin, Germany, June 24-28, 2013.
A. Briod; J.-C. Zufferey; D. Floreano : Optic-Flow Based Control of a 46g Quadrotor. 2013. Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, IROS 2013, Tokyo, Japan, November 7, 2013.
A. Briod; P. M. Kornatowski; A. Klaptocz; J.-C. Zufferey; D. Floreano ; A vertical take-off and landing aerial vehicle. EP13171364 . 2013.
A. Klaptocz; A. Briod; L. Daler; J.-C. Zufferey; D. Floreano : Euler Spring Collision Protection for Flying Robots. 2013. International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013.
L. Daler; J. Lecoeur; P. B. Hählen; D. Floreano : A Flying Robot with Adaptive Morphology for Multi-Modal Locomotion. 2013. IROS 13, Tokyo, Japan, November 3-6, 2013. p. 1361-1366.
A. Briod; P. M. Kornatowski; A. Klaptocz; A. Garnier; M. Pagnamenta et al. : Contact-based navigation for an autonomous flying robot. 2013. International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013. p. 3987-3992.
S. Rosati; B. Rimoldi; K. Kruzelecki; A. jimenez-Pacheco; D. Floreano et al. : Testbed for Fast-Deployable Flying WiFi Networks. 2013. FOURTH NORDIC WORKSHOP ON SYSTEM AND NETWORK OPTIMIZATION FOR WIRELESS, Kittila, Finland, 2013.
D. Floreano; R. Pericet Camara; S. Viollet; F. Ruffier; A. Brückner et al. : Miniature curved artificial compound eyes; PNAS. 2013. DOI : 10.1073/pnas.1219068110.
S. Hauert; S. Leven; J.-C. Zufferey; D. Floreano : Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots. 2013. 10th International Symposium on Distributed Autonomous Robotic Systems. p. 281-293.
T. Stirling; D. Floreano : Energy-Time Efficiency in Aerial Swarm Deployment. 2013. 10th International Symposium on Distributed Autonomous Robotic Systems. p. 5-18.
P. Lichocki : Evolution of division of labor in artificial societies. Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5687.
X. Hou; R. Mahony; F. S. Schill : Representation of Vehicle Dynamics in Haptic Teleoperation of Aerial Robots. 2013. IEEE International Conference on Robotics and Automation, Karlsruhe, May 6-10, 2013.
L. Daler; A. Klaptocz; A. Briod; M. Sitti; D. Floreano : A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive. 2013. ICRA 13, Karlsruhe, May 6-7, 2013.
M. Dorigo; D. Floreano; L. Gambardella; F. Mondada; S. Nolfi et al. : Swarmanoid: a novel concept for the study of heterogeneous robotic swarms; IEEE Robotics & Automation Magazine. 2013. DOI : 10.1109/MRA.2013.2252996.

2012

M. Basiri; F. S. Schill; P. Lima U.; D. Floreano : Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles. 2012. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, October 7-12, 2012.. p. 4737-4742.
A. Jimenez Pacheco; D. Bouhired; Y. Gasser; J.-C. Zufferey; D. Floreano et al. : Implementation of a Wireless Mesh Network of Ultra Light MAVs with Dynamic Routing. 2012. IEEE GLOBECOM 2012, 3rd International IEEE Workshop on Wireless Networking & Control for Unmanned Autonomous Vehicles 2012, Anaheim, California, USA, December 3-7, 2012.
A. Klaptocz : Design of Flying Robots for Collision Absorption and Self-Recovery. Lausanne, EPFL, 2012. DOI : 10.5075/epfl-thesis-5438.
T. Stirling; J. Roberts; J.-C. Zufferey; D. Floreano : Indoor Navigation with a Swarm of Flying Robots. 2012. IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, USA, May 14-18, 2012.
A. Briod; A. Klaptocz; J.-C. Zufferey; D. Floreano : The AirBurr: A Flying Robot That Can Exploit Collisions. 2012. International Conference on Complex Medical Engineering (CME), 2012 ICME, Kobe, Japan, July 1-4, 2012. p. 569 - 574. DOI : 10.1109/ICCME.2012.6275674.
A. Briod; J.-C. Zufferey; D. Floreano : Automatically calibrating the viewing direction of optic-flow sensors. 2012. Robotics and Automation (ICRA), 2012 IEEE International Conference on, St-Paul, Minnesota, USA, May 14-18, 2012. p. 3956 - 3961. DOI : 10.1109/ICRA.2012.6225011.
A. Klaptocz; L. Daler; A. Briod; J.-C. Zufferey; D. Floreano : An Active Uprighting Mechanism for Flying Robots; IEEE Transactions on Robotics. 2012. DOI : 10.1109/TRO.2012.2201309.

2011

F. M. Nieuwenhuizen; M. Jump; M. White; P. Perfect; P. Padfield et al. : myCopter – Enabling Technologies for Personal Aerial Transportation Systems. 2011. International HELI World Conference, Frankfurt/Main, Germany, 2011.
M. Jump; P. Perfect; G. D. Padfield; M. D. White; D. Floreano et al. : myCopter – Enabling Technologies for Personal Aerial Transportation Systems.. 2011. European Rotorcraft Forum, Vergiate/Gallarate, Italy, September 13-15, 2011.
R. Pericet Camara; M. Dobrzynski; G. L'Eplattenier; J.-C. Zufferey; F. Expert et al. : CURVACE - CURVed Artificial Compound Eyes. 2011. 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), Budapest, Hungary, May 4-6, 2011. p. 308-309. DOI : 10.1016/j.procs.2011.09.040.
M. Kovac; W. Hraiz; O. Fauria Torrent; J.-C. Zufferey; D. Floreano : The EPFL jumpglider: A hybrid jumping and gliding robot with rigid or folding wings. 2011. IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand, December 7-11, 2011.
S. Hauert; S. Leven; M. Varga; F. Ruini; A. Cangelosi et al. : Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate. 2011. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011), San Francisco, September 25-30, 2011.
D. Floreano; J.-C. Zufferey; A. Klaptocz; J. M. Germann; M. Kovac : Aerial Locomotion in Cluttered Environments. 2011. 15th International Symposium on Robotics Research, Flagstaff, Arizona, USA, August 28-September 1, 2011.
O. Küng; C. Strecha; A. Beyeler; J.-C. Zufferey; D. Floreano et al. : The Accuracy of Automatic Photogrammetric Techniques on Ultra-light UAV Imagery. 2011. UAV-g 2011 - Unmanned Aerial Vehicle in Geomatics, Zürich, CH, September 14-16, 2011.
M. Jump; P. Padfield; M. White; D. Floreano; P. Fua et al. : myCopter: Enabling Technologies for Personal Air Transport Systems. 2011. RAeS Rotorcraft Conference: The Future Rotorcraft – Enabling Capability Through the Application of Technology, London, UK, 15-16th June 2011.
J. Roberts : Enabling Collective Operation of Indoor Flying Robots. Lausanne, EPFL, 2011. DOI : 10.5075/epfl-thesis-5078.
T. Stirling : Energy-Efficient Indoor Search by Swarms of Flying Robots without Global Information. Lausanne, EPFL, 2011. DOI : 10.5075/epfl-thesis-5045.
S. Leven : Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics. Lausanne, EPFL, 2011. DOI : 10.5075/epfl-thesis-5036.
S. Leven; J.-C. Zufferey; D. Floreano : Dealing with Mid-Air Collisions in Dense Collective Aerial Systems; Journal of Field Robotics. 2011. DOI : 10.1002/rob.20385.

2010

A. Briod : Review of Light-weight Payloads for MAVs and Experiments with Thermopiles. 2010.
T. Stirling; D. Floreano : Energy Efficient Swarm Deployment for Search in Unknown Environments. 2010. 7th International Conference on Swarm Intelligence, Brussels, BELGIUM, Sep 08-10, 2010. p. 562-563.
Z. Akos; N. Mate; S. Leven; T. Vicsek : Thermal soaring flight of birds and unmanned aerial vehicles; Bioinspiration and Biomimetics. 2010. DOI : 10.1088/1748-3182/5/4/045003.
D. Floreano; J.-C. Zufferey : Insect Vision: A Few Tricks to Regulate Flight Altitude; Current Biology. 2010. DOI : 10.1016/j.cub.2010.08.022.
T. Stirling; D. Floreano : Energy-Time Efficiency in Aerial Swarm Deployment. 2010. 10th International Symposium on Distributed Autonomous Robotics Systems., EPFL, Lasuaance, Switzerland, November 1-3, 2010.
S. Hauert : Evolutionary Synthesis of Communication-Based Aerial Swarms. Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4900.
S. Hauert; S. Leven; J.-C. Zufferey; D. Floreano : Beat-based synchronization and steering for groups of fixed-wing flying robots. 2010. International Symposium on Distributed Autonomous Robotics Systems, Lausanne, Switzerland, November 1-3, 2010.
T. Stirling; D. Floreano : Energy Efficient Swarm Deployment for Search in Unknown Environments. 2010. 7th International Conference on Swarm Intelligence (ANTS 2010), Brussels, Belgium, September 8-10th 2010. p. 562-563. DOI : 10.1007/978-3-642-15461-4_61.
M. Kovac; J. M. Germann; C. Hürzeler; R. Siegwart; D. Floreano : A Perching Mechanism for Micro Aerial Vehicles; Journal of Micro-Nano Mechatronics. 2010. DOI : 10.1007/s12213-010-0026-1.
S. Hauert; S. Leven; J.-C. Zufferey; D. Floreano : Communication-based Swarming for Flying Robots. 2010. IEEE International Conference on Robotics and Automation, Workshop on Network Science and Systems Issues in Multi-Robot Autonomy, Anchorage, Alaska, May 7, 2010.
T. Stirling; S. Wischmann; D. Floreano : Energy-Efficient Indoor Search by Swarms of Simulated Flying Robots Without Global Information; Swarm Intelligence. 2010. DOI : 10.1007/s11721-010-0039-3.
S. Hauert; S. Leven; J.-C. Zufferey; D. Floreano : Communication-based Leashing of Real Flying Robots. 2010. IEEE International Conference on Robotics and Automation (ICRA2010). p. 15-20.
J.-C. Zufferey; A. Beyeler; D. Floreano : Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following. 2010. IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010.
A. Klaptocz; G. Boutinard Rouelle; A. Briod; J.-C. Zufferey; D. Floreano : An Indoor Flying Platform with Collision Robustness and Self-Recovery. 2010. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, US, May 3-8, 2010. p. 3349 - 3354. DOI : 10.1109/ROBOT.2010.5509338.

2009

J.-C. Zufferey; A. Beyeler; D. Floreano : How to control MAVs in cluttered environments?. 2009. Workshop on Micro Aerial Vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2009), St-Louis, October 11-15.
A. Beyeler; J.-C. Zufferey; D. Floreano : optiPilot: control of take-off and landing using optic flow. 2009. European Micro Air Vehicle conference and competition 2009 (EMAV '09), Delft, Netherland, September 14-17, 2009.
S. Leven; J.-C. Zufferey; D. Floreano : A Minimalist Control Strategy for Small UAVs. 2009. 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), St. Louis, October 11-15, 2009. p. 2873-2878.
M. Kovac; M. Schlegel; J.-C. Zufferey; D. Floreano : A Miniature Jumping Robot with Self-Recovery Capabilities. 2009. IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, October 11-15, 2009. p. 583 - 588.
A. Beyeler; J.-C. Zufferey; D. Floreano : Vision-based control of near-obstacle flight; Autonomous Robots. 2009. DOI : 10.1007/s10514-009-9139-6.
A. Beyeler : Vision-based control of near-obstacle flight. Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4456.
L. Keller; D. Floreano : Methods for Artificial Evolution of Truly Cooperative Robots. 2009. International Workshop on Artificial Neural Network 2009, Salamanca, Spain, June 10-12, 2009. p. 768-772. DOI : 10.1007/978-3-642-02478-8_96.
S. Hauert; J.-C. Zufferey; D. Floreano : Evolved swarming without positioning information: an application in aerial communication relay; Autonomous Robots. 2009. DOI : 10.1007/s10514-008-9104-9.

2008

R. Moeckel; S.-C. Liu : A time-of-travel motion detection chip for steering autonomous robots. 2008. Workshop on visual guidance systems for small autonomous aerial vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2008), Nice, 22 September 2008.
J.-C. Zufferey; A. Beyeler; D. Floreano : Near-obstacle flight with small UAVs. 2008. UAV'2008, Orlando, June 23-25, 2008.
J.-C. Zufferey; A. Beyeler; D. Floreano : Optic flow to control small UAVs. 2008. Workshop on visual guidance systems for small autonomous aerial vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2008), Nice, 22 September 2008.
A. Beyeler; S. Magnenat; A. Habersaat : Ishtar: a flexible and lightweight software for remote data access. 2008. European Micro Air Vehicle Conference EMAV08, Braunschweig, Germany, July 8-10, 2008.
M. Kovac; J.-C. Zufferey; D. Floreano : Towards the Self Deploying Microglider, a biomimetic jumping and gliding robot. 2008. 4th International Symposium on Adaptive Motion of Animals and Machines, Cleveland, Ohio, USA, June 1-6, 2008. p. 41-42.
J. F. Roberts; J.-C. Zufferey; D. Floreano : Energy Management for Indoor Hovering Robots. 2008. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2008), Nice, France, September 22-26, 2008.
S. Hauert; L. Winkler; J.-C. Zufferey; D. Floreano : Ant-based Swarming with Positionless Micro Air Vehicles for Communication Relay; Swarm Intelligence. 2008. DOI : 10.1007/s11721-008-0013-5.
J.-C. Zufferey; A. Beyeler; D. Floreano ; Visual autopilot for near-obstacle flight. PL2274658 ; ES2389549 ; EP2274658 ; US2011029161 ; EP2274658 ; WO2009127907 ; PCT/IB2008/051497 . 2008.
M. Kovac; M. Fuchs; A. Guignard; J.-C. Zufferey; D. Floreano : A miniature 7g jumping robot. 2008. IEEE International Conference on Robotics and Automation (ICRA'2008), Pasadena, California, May 19-23, 2008. p. 373 - 378. DOI : 10.1109/ROBOT.2008.4543236.

2007

M. Kovac; G. Savioz; J.-C. Zufferey; D. Floreano; D. Floreano et al. : Towards the Self Deploying Microglider; Gliding Flight and Bioinspired Wing Folding Mechanism. 2007. International Symposium on Flying Insects and Robots, Monte Verita, Ascona, Switzerland, August 12-17, 2007. p. 61-62.
S. Leven; J.-C. Zufferey; D. Floreano : A Simple and Robust Fixed-Wing Platform for Outdoor Flying Robot Experiments. 2007. International Symposium on Flying Insects and Robots, Monte Verità, Locarno, Switzerland, August 12-17, 2007. p. 69-70.
J. F. Roberts; T. Stirling; J.-C. Zufferey; D. Floreano : Quadrotor Using Minimal Sensing For Autonomous Indoor Flight. 2007. European Micro Air Vehicle Conference and Flight Competition (EMAV2007), Toulouse, France, 17-21 September 2007,.
J.-C. Zufferey; A. Beyeler; D. Floreano : Insect-inspired Autonomous Microflyer. 2007. International Symposium on Flying Insects and Robots, Monte Verità, Switzerland, Monte Verità, Locarno, Switzerland, August 12-17. p. 133-134.
J.-C. Zufferey; A. Klaptocz; A. Beyeler; J.-D. Nicoud; D. Floreano : A 10-gram Vision-based Flying Robot; Advanced Robotics. 2007. DOI : 10.1163/156855307782227417.
R. Moeckel; S.-C. Liu : Motion Detection Circuits for a Time-To-Travel Algorithm. 2007. IEEE International Symposium on Circuits and Systems (ISCAS), New Orleans, 27-30 May. p. 3079-3082.
A. Beyeler; J.-C. Zufferey; D. Floreano : 3D Vision-based Navigation for Indoor Microflyers. 2007. IEEE International Conference on Robotics and Automation (ICRA'07), Roma, Italy, April 10th-14th, 2007.
M. Kovac; A. Guignard; J.-D. Nicoud; J.-C. Zufferey; D. Floreano : A 1.5g SMA-actuated Microglider looking for the Light. 2007. IEEE International Conference on Robotics and Automation (ICRA'2007), Rome, Italy, 10-14.4.2007. p. 367-372. DOI : 10.1109/ROBOT.2007.363814.

2006

J.-C. Zufferey; A. Guanella; A. Beyeler; D. Floreano : Flying over the Reality Gap: From Simulated to Real Indoor Airships; Autonomous Robots. 2006.
J.-C. Zufferey; A. Klaptocz; A. Beyeler; J.-D. Nicoud; D. Floreano : A 10-gram Microflyer for Vision-based Indoor Navigation. 2006. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006), Beijing, China, October 9-15. p. 3267-3272.
A. Beyeler; C. Mattiussi; J.-C. Zufferey; D. Floreano : Vision-based Altitude and Pitch Estimation for Ultra-light Indoor Aircraft. 2006. IEEE International Conference on Robotics and Automation (ICRA'06), Orlando, FL, May, 2006. p. 2836-2841.
J.-C. Zufferey; D. Floreano : Fly-inspired Visual Steering of an Ultralight Indoor Aircraft; IEEE Transactions on Robotics. 2006. DOI : 10.1109/TRO.2005.858857.

2005

D. Floreano; J.-C. Zufferey; J.-D. Nicoud : From Wheels to Wings with Evolutionary Spiking Neurons; Artificial Life. 2005. DOI : 10.1162/1064546053278900.
J.-C. Zufferey; D. Floreano : Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control. 2005. IEEE International Conference on Robotics and Automation (ICRA'2005), Barcelona, 18-22 April.
J.-C. Zufferey : Bio-inspired vision-based flying robots. Lausanne, EPFL, 2005. DOI : 10.5075/epfl-thesis-3194.

2004

J.-C. Zufferey; D. Floreano : Optic-flow-based steering and altitude control for ultra-light indoor aircraft. 2004.

2003

D. Floreano; J.-C. Zufferey; C. Mattiussi : Evolving Spiking Neurons from Wheels to Wings. 2003. 3rd International Symposium on Human and Artificial Intelligence Systems (HART'2002), Fukui, Japan, December 6-7, 2002. p. 65-70.
J.-C. Zufferey; A. Beyeler; D. Floreano : Vision-based Navigation from Wheels to Wings. 2003. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2003). p. 2968-2973.

2002

J.-C. Zufferey; D. Floreano; M. van Leeuwen; T. Merenda : Evolving Vision-based Flying Robots. 2002. 2nd International Workshop on Biologically Motivated Computer Vision (BMCV'2002), Tübingen, November 22 - 24. p. 592-600.