muFly

Publications

• D. Schafroth, S. Bouabdallah, C. Bermes, R. Siegwart, "From the Test Benches to the First Prototype of the muFly Micro Helicopter", Journal of Intelligent and Robotic Systems, 2008.
• P. Ferrat, S. Neukom, C. Gimkiewicz, T. Baechler, "Ultra-miniature omnidirectional camera for an autonomous flying micro-robot", SPIE Photonics Europe, Session: Optical and digital signal processing (conference 7000 igaeh)
• M. Tanigawa, H. Luinge, L. Schipper, P. Slycke, "Drift-Free Dynamic Height Sensor using MEMS IMU Aided by MEMS Pressure Sensor", proceedings of WPNC08, Hannover (D), 2008
• G. Grisetti, C. Stachniss, S. Grzonka, W. Burgard, “A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Stochastic Gradient Descent”; RSS07 (Robotics Science and Systems Conference), Atlanta, USA. (Open source implementation available at http://www.openslam.org/toro.html)
• Grisetti Giorgio, Slawomir Grzonka, Cyrill Stachniss, Patrick Pfaff, and Wolfram Burgard Efficient Estimation of Accurate Maximum Likelihood Maps in 3D In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
• Bastian Steder, Grisetti Giorgio, Cyrill Stachniss, Slawomir Grzonka, Axel Rottmann, and Wolfram Burgard Learning Maps in 3D using Attitude and Noisy Vision Sensors In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
• Gian Diego Tipaldi, Giorgio Grisetti, and Wolfram Burgard, "Approximate Covariance Estimation in Graphical Approaches to SLAM", IROS, 2007
• G. Grisetti, S. Grzonka, C. Stachniss, P. Pfaff, W. Burgard, “Efficient Estimation of Accurate Maximum Likelihood Maps in 3D”; Submitted to IROS07 (IEEE/RSJ International Conference On Intelligent Robots and Systems), San Diego, California, USA
• B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, W. Burgard, „3D Surface Map Estimation using Noisy Vision Sensors”; In preparation for IROS07 (IEEE/RSJ International Conference On Intelligent Robots and Systems), San Diego, California, USA
• B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, and W. Burgard,"Learning Maps in 3D using Attitude and Noisy Vision Sensors", IROS, 2007
• P. Meneroud, G. Magnac, G. Patient, F. Claeyssen, “BISTABLE MICRO ACTUATOR FOR ENERGY SAVING” ; Conference: Actuator 2006
• P. Jänker, F. Claeyssen, NEW ACTUATORS FOR AIRCRAFT AND SPACE APPLICATIONS ; Confernce: Actuators 2006
• D. Schafroth, C. Bermes, S. Bouabdallah, R. Siegwart, “Aerodynamic optimization, dynamic modeling and overall prototype design for the muFly autonomous micro-helicopter”; Flying insects and robots symposium 2007;
• S. Bouabdallah, C. Bermes, D. Schafroth, R. Siegwart, “muFly project, the first steps”; Flying insects and robots symposium 2007
• Schafroth, D., Bermes, C., Bouabdallah, S. and Siegwart, R., "Modeling and System Identification of the muFly Micro Helicopter", accepted, 2nd International Symposium on Unmanned Aerial Vehicles, Reno, USA, 2009
• Bermes, C., Schafroth, D., Bouabdallah, S. and Siegwart, R., "Modular Simulation Model for Coaxial Rotary Wing MAVs", accepted, 2nd International Symposium on Unmanned Aerial Vehicles, Reno, USA, 2009
• Schafroth, D., Bermes, C., Bouabdallah, S. and Siegwart, R., "Propulsion system optimization for the muFly micro-helicopter", accepted, 35th European Rotorcraft Forum, Hamburg, Germany, 2009
• Bermes, C., Schafroth, D., Bouabdallah, S. and Siegwart, R., “Design Parameters for Coaxial Rotary Wing MAVs with Passive Roll and Pitch Stability”, accepted, American Helicopter Society 65th Annual Forum, Grapevine, USA, 2009
• Schafroth, D., Bermes, C., Bouabdallah, S. and Siegwart, R., "Micro Helicopter Steering: Review and Design for the muFly Project", Proceedings IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Beijing, China, 2008
• Bermes, C., Leutenegger, S., Bouabdallah, S., Schafroth, D. and Siegwart, R., "New Design of the Steering Mechanism for a Mini Coaxial Helicopter", Proceedings IEEE International Conference on Intelligent Robots and Systems (IROS), Nice, France, 2008
• Schafroth, D., Bouabdallah, S., Bermes, C. and Siegwart, R., "From the Test benches to the First Prototype of the muFly Micro Helicopter", Journal of Intelligent and Robotic Systems, 2008

Related student projects

• S. Niederhauser, A. Nussberger: Entwicklung und Fertigung eines Rotoren-Käfigs für einen autonomen Mikrohelikopter, Bachelorarbeit, 2007 (together with Strucutres Lab, Prof. Ermanni)
• S. Leutenegger: Mechanical Design and Realization of a Steering Mechanism for a Coaxial Helicopter, Semesterarbeit, 2007
• G. Rempfler: Multi-body Simulation of a Passive Helicopter Stabilization System, Semesterarbeit, 2007
• H. Meier: Experimental characterization of the swash plate and passive stabilization system for the autonomous helicopter muFly, Bachelorarbeit