33 citations · 83 across the 7 of their papers we have counts for
7 papers
Manual, Semi or Fully Autonomous Flipper Control? A Framework for Fair Comparison
Valentýn Číhala, Martin Pecka, Tomáš Svoboda +1
We investigated the performance of existing semi- and fully autonomous methods for controlling flipper-based skid-steer robots. Our study involves reimplementation of these methods…
MonoForce: Self-supervised Learning of Physics-informed Model for Predicting Robot-terrain Interaction
Ruslan Agishev, Karel Zimmermann, Vladimír Kubelka +2
While autonomous navigation of mobile robots on rigid terrain is a well-explored problem, navigating on deformable terrain such as tall grass or bushes remains a challenge. To addr…
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…
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…
Fast Simulation of Vehicles with Non-deformable Tracks
Martin Pecka, Karel Zimmermann, Tomáš Svoboda
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on…
Controlling Robot Morphology from Incomplete Measurements
Martin Pecka, Karel Zimmermann, Michal Reinštein +1
Mobile robots with complex morphology are essential for traversing rough terrains in Urban Search & Rescue missions (USAR). Since teleoperation of the complex morphology causes hig…