A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks

Diana A. Olejnik, Bardienus P. Duisterhof, Matej Karásek, Kirk Y.W. Scheper, Tom Van Dijk, Guido C.H.E. De Croon

Research output: Contribution to journalArticleScientificpeer-review

6 Citations (Scopus)


In the field of robotics, a major challenge is achieving high levels of autonomy with small vehicles that have limited mass and power budgets. The main motivation for designing such small vehicles is that compared to their larger counterparts, they have the potential to be safer, and hence be available and work together in large numbers. One of the key components in micro robotics is efficient software design to optimally utilize the computing power available. This paper describes the computer vision and control algorithms used to achieve autonomous flight with the ∼30g tailless flapping wing robot, used to participate in the International Micro Air Vehicle Conference and Competition (IMAV 2018) indoor microair vehicle competition. Several tasks are discussed: line following, circular gate detection and fly through. The emphasis throughout this paper is on augmenting traditional techniques with the goal to make these methods work with limited computing power while obtaining robust behavior.

Original languageEnglish
Pages (from-to)287-294
Number of pages8
JournalUnmanned Systems
Issue number4
Publication statusPublished - 2020


  • flapping wings
  • MAV
  • visual servoing


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