153 citations · 1.2k across the 106 of their papers we have counts for
27 papers · 1 filter
Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat
Ondřej Procházka, Filip Novák, Tomáš Báča +3
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehi…
A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration
Thulio Amorim, Tiago Nascimento, Akash Chaudhary +2
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned floc…
A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles
Davi Santos, Martin Saska, Tiago Nascimento
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generate…
Bio-inspired visual relative localization for large swarms of UAVs
Martin Křížek, Matouš Vrba, Antonella Barišić Kulaš +2
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardi…
Proximal Control of UAVs with Federated Learning for Human-Robot Collaborative Domains
Lucas Nogueira Nobrega, Ewerton de Oliveira, Martin Saska +1
The human-robot interaction (HRI) is a growing area of research. In HRI, complex command (action) classification is still an open problem that usually prevents the real applicabili…
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
Vit Kratky, Robert Penicka, Jiri Horyna +5
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between a…
Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles
Daniel Bonilla Licea, Giuseppe Silano, Hajar El Hammouti +2
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has attracted significant interest in the robotics community. These MRAVs have the uni…
Autonomous localization of multiple ionizing radiation sources using miniature single-layer Compton cameras onboard a group of micro aerial vehicles
Michal Werner, Tomáš Báča, Petr Štibinger +4
A novel method for autonomous localization of multiple sources of gamma radiation using a group of Micro Aerial Vehicles (MAVs) is presented in this paper. The method utilizes an e…
Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study
Giuseppe Silano, Alvaro Caballero, Davide Liuzza +3
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspe…
State estimation of marine vessels affected by waves by unmanned aerial vehicles
Filip Novák, Tomáš Báča, Ondřej Procházka +1
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a…
Real-time Planning of Minimum-time Trajectories for Agile UAV Flight
Krystof Teissing, Matej Novosad, Robert Penicka +1
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly tim…
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
Giuseppe Silano, Alvaro Caballero, Davide Liuzza +3
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario.…
Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping
Daniel Bonilla Licea, Hajar El Hammouti, Giuseppe Silano +1
Recent research in communications-aware robotics has been propelled by advancements in 5G and emerging 6G technologies. This field now includes the integration of Multi-Rotor Aeria…
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
Jeppe Heini Mikkelsen, Vit Kratky, Roberto Galeazzi +2
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised th…
Fast Collective Evasion in Self-Localized Swarms of Unmanned Aerial Vehicles
Filip Novák, Viktor Walter, Pavel Petráček +2
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivat…
Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework
Akash Chaudhary, Tiago Nascimento, Martin Saska
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this…
Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves
Filip Novák, Tomáš Báča, Ondřej Procházka +1
This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characteri…
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
Michal Minarik, Robert Penicka, Vojtech Vonasek +1
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Int…
Cooperative Indoor Exploration Leveraging a Mixed-Size UAV Team with Heterogeneous Sensors
Michaela Cihlářová, Václav Pritzl, Martin Saska
Heterogeneous teams of Unmanned Aerial Vehicles (UAVs) can enhance the exploration capabilities of aerial robots by exploiting different strengths and abilities of varying UAVs. Th…
Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers
Filip Novák, Tomáš Báča, Martin Saska
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surfac…
Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture
Michal Pliska, Matouš Vrba, Tomáš Báča +1
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guida…
Fast Swarming of UAVs in GNSS-denied Feature-poor Environments without Explicit Communication
Jiri Horyna, Vit Kratky, Vaclav Pritzl +3
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication i…
PACNav: Enhancing Collective Navigation for UAV Swarms in Communication-Challenged Environments
Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano +2
This article presents Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swar…
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
Vít Krátký, Giuseppe Silano, Matouš Vrba +5
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a hum…