153 citations · 787 across the 32 of their papers we have counts for
8 papers · 2 filters
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…