Code and data for the article "Accommodating unobservability to control flight attitude with optic flow"

doi: 10.4121/20183399.v1
The doi above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
doi: 10.4121/20183399
Datacite citation style:
Guido de Croon; Julien Dupeyroux; Christophe de Wagter; Abhishek Chatterjee; Diana A. Olejnik et. al. (2022): Code and data for the article "Accommodating unobservability to control flight attitude with optic flow". Version 1. 4TU.ResearchData. dataset.
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

This dataset contains the MATLAB code and experimental data for reproducing the observability analysis, simulation experiments, and plotting of robotic results for the article: 

“Accommodating unobservability to control flight attitude with optic flow”, by G.C.H.E. de Croon, J.J.G. Dupeyroux, C. De Wagter, A. Chatterjee, D.A. Olejnik, F. Ruffier.

The dataset contains the logged flight data from quadrotor experiments (with a Parrot Bebop 2) and flapping wing robot experiments (with a Flapper Drone), as performed for the paper mentioned above.

Moreover, it contains the post-processed data (positions, pitch attitudes, as extracted with computer vision scripts from the images captured in the experimental setup) from the honeybee experiments performed in the article: Portelli, G., Ruffier, F., Roubieu, F. L., & Franceschini, N. (2011). Honeybees' speed depends on dorsal as well as lateral, ventral and frontal optic flows. PloS one, 6(5), e19486. This data has been re-analyzed in the light of the proposed new theory on estimating attitude with the help of optic flow.

The dataset contains a README document that further explains how to reproduce the results with the MATLAB code.


  • 2022-10-17 first online, published, posted
MATLAB scripts, .mat files, raw text data logs
Faculty of Aerospace Engineering, Delft University of Technology, the Netherlands
ISM, Aix Marseille Université, CNRS, France


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