153 citations · 1.2k across the 106 of their papers we have counts for
30 papers · 1 filter
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments
Václav Pritzl, Matouš Vrba, Yurii Stasinchuk +4
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization…
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation
Pavel Petracek, Kostas Alexis, Martin Saska
The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimati…
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Sign…
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
Daniel Hert, Tomas Baca, Pavel Petracek +18
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor a…
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The metho…
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle
Václav Pritzl, Matouš Vrba, Petr Štěpán +1
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light…
Communications-Aware Robotics: Challenges and Opportunities
Daniel Bonilla Licea, Giuseppe Silano, Mounir Ghogho +1
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents ar…
Distributed UAV Formation Control Robust to Relative Pose Measurement Noise
Viktor Walter, Matouš Vrba, Daniel Bonilla Licea +2
A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmann…
Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization
Pavel Petracek, Viktor Walter, Tomas Baca +1
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communi…
Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments
Pavel Petracek, Vit Kratky, Martin Saska
This letter presents a self-contained system for robust deployment of autonomous aerial vehicles in environments without access to global navigation systems and with limited lighti…
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles
Pavel Petracek, Vit Kratky, Matej Petrlik +3
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders…
New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy
Pavel Petracek, Vit Kratky, Tomas Baca +2
Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of au…
Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles
Vít Krátký, Alfonso Alcántara, Jesús Capitán +3
This letter describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor hel…
Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles
Vít Krátký, Pavel Petráček, Vojtěch Spurný +1
A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presente…
On Onboard LiDAR-based Flying Object Detection
Matouš Vrba, Viktor Walter, Václav Pritzl +5
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is…
PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization
Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano +2
This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swar…
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
Daniel Hert, Tomas Baca, Pavel Petracek +16
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is hig…
A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks
Giuseppe Silano, Jan Bednar, Tiago Nascimento +3
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations.…
Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations
Daniel Bonilla Licea, Giuseppe Silano, Mounir Ghogho +1
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV's antenna orientation. We consider the scenario where a multi-rotor UAV serves as a…
A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV
Andriy Dmytruk, Giuseppe Silano, Davide Bicego +2
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is…
An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs
Lyubomyr Demkiv, Massimiliano Ruffo, Giuseppe Silano +2
An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka M…
Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications
Giuseppe Silano, Tomas Baca, Robert Penicka +2
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks…
LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments
Matěj Petrl\' ik, Tom\' aš Krajn\' ik, Martin Saska
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS…
Deployment of Reliable Visual Inertial Odometry Approaches for Unmanned Aerial Vehicles in Real-world Environment
Jan Bednář, Matěj Petrlík, Kelen Cristiane Teixeira Vivaldini +1
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real…