153 citations · 1.2k across the 106 of their papers we have counts for
24 papers · 1 filter
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…
Degradation-Aware Cooperative Multi-Modal GNSS-Denied Localization Leveraging LiDAR-Based Robot Detections
Václav Pritzl, Xianjia Yu, Tomi Westerlund +2
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors…
Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance
Pavel Pochobradský, Ondřej Procházka, Robert Pěnička +2
In this letter, we introduce Geometric Model Predictive Path Integral (GMPPI), a sampling-based controller capable of tracking agile trajectories while avoiding obstacles. In each…
Kilometer-Scale GNSS-Denied UAV Navigation via Heightmap Gradients: A Winning System from the SPRIN-D Challenge
Michal Werner, David Čapek, Tomáš Musil +3
Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in prev…
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temp…
Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot
Jiri Horyna, Roland Jung, Stephan Weiss +2
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, wher…
Decision-Making-Based Path Planning for Autonomous UAVs: A Survey
Kelen C. Teixeira Vivaldini, Robert Pěnička, Martin Saska
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each U…
Towards Fully Onboard State Estimation and Trajectory Tracking for UAVs with Suspended Payloads
Martin Jiroušek, Tomáš Báča, Martin Saska
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hard…
LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
Parakh M. Gupta, Ondřej Procházka, Jan Hřebec +3
[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to lar…
Free-Space Optical Communication-Driven NMPC Framework for Multi-Rotor Aerial Vehicles in Structured Inspection Scenarios
Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti +1
This paper introduces a Nonlinear Model Predictive Control (NMPC) framework for communication-aware motion planning of Multi-Rotor Aerial Vehicles (MRAVs) using Free-Space Optical…
Flatness-based Finite-Horizon Multi-UAV Formation Trajectory Planning and Directionally Aware Collision Avoidance Tracking
Hossein B. Jond, Logan Beaver, Martin Jiroušek +3
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensit…
On rapid parallel tuning of controllers of a swarm of MAVs -- distribution strategies of the updated gains
Dariusz Horla, Wojciech Giernacki, Vít Krátký +3
In this paper, we present a reliable, scalable, time deterministic, model-free procedure to tune swarms of Micro Aerial Vehicles (MAVs) using basic sensory data. Two approaches to…
Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks
Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti +2
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has gained attention for their ability to independently control 3D position and orient…
Distributed Lloyd-Based algorithm for uncertainty-aware multi-robot under-canopy flocking
Manuel Boldrer, Vit Kratky, Viktor Walter +1
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information…
Aerial Robots Persistent Monitoring and Target Detection: Deployment and Assessment in the Field
Manuel Boldrer, Vit Kratky, Martin Saska
In this article, we present a distributed algorithm for multi-robot persistent monitoring and target detection. In particular, we propose a novel solution that effectively integrat…
Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
Atharva Ghotavadekar, František Nekovář, Martin Saska +1
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such…
CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV
Parakh M. Gupta, Ondřej Procházka, Tiago Nascimento +1
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land…
FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy
David Čapek, Jan Hrnčíř, Tomáš Báča +4
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulato…
Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization
Tim Felix Lakemann, Daniel Bonilla Licea, Viktor Walter +2
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active bl…