153 citations · 1.2k across the 106 of their papers we have counts for
109 papers
NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments
Ondřej Procházka, Juraj Pauko, Robert Pěnička +1
Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the reference also needs to be…
Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation
Michal Pliska, Matouš Vrba, Ondřej Víta +3
Agile multi-UAV flight requires accurate and low-latency onboard estimation of the kinematic states of neighboring UAVs for collision avoidance, motion coordination, etc. Most visi…
L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control
Lukáš Kotek, Ondřej Procházka, Vojtěch Vonásek +2
This work proposes the L1 Adaptive Model Predictive Path Integral (L1-MPPI). It cascades L1 adaptive control with the Model Predictive Path Integral (MPPI) to improve tracking of h…
Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors
Giuseppe Silano, Martin Saska
Fully-actuated multirotor aerial vehicles must not only track nominal wrenches but retain the "readiness" to modulate them rapidly under disturbances. Classical effort-minimizing a…
FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control
Aditya Dandwate, Vit Kratky, Parakh M. Gupta +2
Flying in a prescribed formation in an agile manner remains a challenging problem in the field of UAVs, particularly when following highly-demanding trajectories that require fligh…
BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
Parakh M. Gupta, Matej Mihulka, Matej Novosad +2
Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during an agile high-speed flight due to the depletion of the battery and subsequent loss of maximum ava…
Dynamical Vehicle Orienteering Problem for Multi-Rotor Unmanned Aerial Vehicles
František Nekovář, Matej Novosad, Martin Saska +1
This paper introduces the Dynamical Vehicle Orienteering Problem (DVOP), a generalization of the Orienteering Problem (OP). The OP maximizes the reward collected from spatial targe…
Spacecraft Fiducial Marker for Autonomous Rendezvous, Proximity Operations, and Docking
Ravi Kumar Thakur, Matouš Vrba, Martin Saska
Robotic operations in space are challenging due to the harsh environment and the high cost of failure. Fiducial markers provide visual references that aid autonomous rendezvous, pr…
Motor Angular Speed Preintegration for Multirotor UAV State Estimation
Matěj Petrlík, Filip Novák, Robert Pěnička +1
A precise state estimate is crucial for a tight feedback control that enables agile and near-obstacle flights of UAVs. The state-of-the-art methods fuse slow pose measurements with…
Sensitivity-Based Robust NMPC for Close-Proximity Offshore Wind Turbine Inspection with a Tilted Multirotor
Giuseppe Silano, Martin Saska
Close-proximity offshore wind turbine inspection requires strict clearance control around large cylindrical structures under wind and model mismatch. Nominal Nonlinear Model Predic…
Relative State Estimation using Event-Based Propeller Sensing
Ravi Kumar Thakur, Luis Granados Segura, Jan Klivan +4
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well…
Orientation Matters: Learning Radiation Patterns of Multi-Rotor UAVs In-Flight to Enhance Communication Availability Modeling
Martin Zoula, Daniel Bonilla Licea, Jan Faigl +2
The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs ar…
Perception-Aware Communication-Free Multi-UAV Coordination in the Wild
Manuel Boldrer, Michal Kamler, Afzal Ahmad +1
We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach re…
Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
Giuseppe Silano, Daniel Bonilla Licea, Davide Liuzza +2
Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming str…
Autonomous Inspection of Power Line Insulators with UAV on an Unmapped Transmission Tower
Václav Riss, Vít Krátký, Robert Pěnička +1
This paper introduces an online inspection algorithm that enables an autonomous UAV to fly around a transmission tower and obtain detailed inspection images without a prior map of…
Position-Based Flocking for Persistent Alignment without Velocity Sensing
Hossein B. Jond, Veli Bakırcıoğlu, Logan E. Beaver +3
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves per…
FDA Flocking: Future Direction-Aware Flocking via Velocity Prediction
Hossein B. Jond, Martin Saska
Understanding self-organization in natural collectives such as bird flocks inspires swarm robotics, yet most flocking models remain reactive, overlooking anticipatory cues that enh…
Vision-only UAV State Estimation for Fast Flights Without External Localization Systems: A2RL Drone Racing Finalist Approach
Filip Novák, Matěj Petrlík, Matej Novosad +3
Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for on…
RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight
Vit Kratky, Robert Penicka, Parakh M. Gupta +2
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike…
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning
Tomáš Musil, Matěj Petrlík, Martin Saska
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dens…
Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers
Tim Lakemann, Daniel Bonilla Licea, Viktor Walter +1
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these t…
RADRON: Cooperative Localization of Ionizing Radiation Sources by MAVs with Compton Cameras
Petr Stibinger, Tomas Baca, Daniela Doubravova +5
We present a novel approach to localizing radioactive material by cooperating Micro Aerial Vehicles (MAVs). Our approach utilizes a state-of-the-art single-detector Compton camera…
FIMD: Fast Isolated Marker Detection for UV-Based Visual Relative Localisation in Agile UAV Swarms
Vojtěch Vrba, Viktor Walter, Petr Štěpán +1
A novel approach for the fast onboard detection of isolated markers for visual relative localisation of multiple teammates in agile UAV swarms is introduced in this paper. As the d…
Simultaneous learning of state-to-state minimum-time planning and control
Swati Dantu, Robert Pěnička, Martin Saska
This paper tackles the challenge of learning a generalizable minimum-time flight policy for UAVs, capable of navigating between arbitrary start and goal states while balancing agil…