90 citations · 305 across the 18 of their papers we have counts for
18 papers
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…
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…
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…
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…
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…
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
Jeppe Heini Mikkelsen, Vit Kratky, Roberto Galeazzi +2
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised th…
Fast Swarming of UAVs in GNSS-denied Feature-poor Environments without Explicit Communication
Jiri Horyna, Vit Kratky, Vaclav Pritzl +3
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication i…
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
Anibal Ollero, Alejandro Suarez, Christos Papaioannidis +27
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is c…
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…
Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments
Pavel Petracek, Vit Kratky, Martin Saska
This letter presents a self-contained system for robust deployment of autonomous aerial vehicles in environments without access to global navigation systems and with limited lighti…
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…
Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles
Vít Krátký, Alfonso Alcántara, Jesús Capitán +3
This letter describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor hel…
Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles
Vít Krátký, Pavel Petráček, Vojtěch Spurný +1
A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presente…
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…
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…