153 citations · 787 across the 32 of their papers we have counts for
34 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…
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…
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…
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…
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…
Onboard 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…
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…
Enhancing Sampling-based Planning with a Library of Paths
Michal Minařík, Vojtěch Vonásek, Robert Pěnička
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applicat…
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…
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…
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…
KRRF: Kinodynamic Rapidly-exploring Random Forest algorithm for multi-goal motion planning
Petr Ježek, Michal Minařík, Vojtěch Vonásek +1
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimiz…
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…
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…
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…
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…
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…
Energy-aware Multi-UAV Coverage Mission Planning with Optimal Speed of Flight
Denys Datsko, Frantisek Nekovar, Robert Penicka +1
This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV…
Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight
Philipp Foehn, Elia Kaufmann, Angel Romero +8
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platfor…
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…
CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments
Matej Novosad, Robert Penicka, Vojtech Vonasek
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such dist…