153 citations · 426 across the 16 of their papers we have counts for
16 papers
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…
Vision-only 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…
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…
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…
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…
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…
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…
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…
SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning
Tomáš Musil, Matěj Petrlík, Martin Saska
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupan…
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
Matej Petrlik, Pavel Petracek, Vit Kratky +8
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked s…
System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge
Tomáš Rouček, Martin Pecka, Petr Čížek +19
We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to ad…
Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition
Tomas Baca, Robert Penicka, Petr Stepan +4
This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Za…
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
Tomas Baca, Matej Petrlik, Matous Vrba +4
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We…
Data-driven Policy Transfer with Imprecise Perception Simulation
Martin Pecka, Karel Zimmermann, Matěj Petrlík +1
The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interact…