Event-Based Perception for Flapping-Wing Robots
- Autores: Raúl Tapia
- Directores de la Tesis: José Ramiro Martínez de Dios (dir. tes.), Aníbal Ollero Baturone (dir. tes.)
- Lectura: En la Universidad de Sevilla ( España ) en 2025
- Idioma: inglés
- Número de páginas: 237
- Enlaces
- Tesis en acceso abierto en: Idus
- Resumen
This PhD Thesis aims at contributing to the robotics community by investigating the advantages of integrating event-based vision into flapping-wing aerial robots, two emerging bioinspired technologies with the potential to transform the future of autonomous aerial systems. Event cameras offer relevant advantages (e.g., microsecond temporal resolution, low latency, high dynamic range, low energy consumption, among others) that make them uniquely suited for flapping-wing robots, whose oscillatory motion and limited payload capacities challenge traditional sensing solutions. This work addresses a significant gap in the literature by designing, developing, evaluating, and validating online onboard perception systems using event cameras for resource-constrained aerial platforms such as flapping-wing robots.
