Floreano, DarioZufferey, Jean-ChristopheBriod, Adrien2014-01-072014-01-07201410.5075/epfl-thesis-6072https://infoscience.epfl.ch/handle/20.500.14299/99011urn:nbn:ch:bel-epfl-thesis6072-1enflying robotsautonomous navigationcollision robustnesscollision resiliencegimbal systemego-motion estimationoptic-flowsensor fusioninertial sensorslight-weight sensingRobust Autonomous Flight in Unstructured Environmentsthesis::doctoral thesis