105 citations · 378 across the 20 of their papers we have counts for
21 papers
Design and Validation of a Wireless Drone Docking Station
Dario Stuhne, Goran Vasiljevic, Stjepan Bogdan +1
Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power aut…
Grabbing power line conductors based on the measurements of the magnetic field strength
Goran Vasiljevic, Dean Martinovic, Matko Orsag +1
This paper presents the method for the localization and grabbing of the long straight conductor based only on the magnetic field generated by the alternating current flowing throug…
Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle
Ana Batinovic, Jurica Goricanec, Lovro Markovic +1
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles…
Towards Operating Wind Turbine Inspections using a LiDAR-equipped UAV
Toma Sikora, Lovro Markovic, Stjepan Bogdan
In this study, a novel technique for the autonomous visual inspection of rotating wind turbine rotor blades utilizing an unmanned aerial vehicle (UAV) was developed. This approach…
Decentralized Multi-Robot Formation Control Using Reinforcement Learning
Juraj Obradovic, Marko Krizmancic, Stjepan Bogdan
This paper presents a decentralized leader-follower multi-robot formation control based on a reinforcement learning (RL) algorithm applied to a swarm of small educational Sphero ro…
A Search Strategy and Vessel Detection in Maritime Environment Using Fixed-Wing UAVs
Marijana Peti, Ana Milas, Natko Kraševac +4
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such envi…
Validation of two-wire power line UAV localization based on the magnetic field strength
Goran Vasiljevic, Dean Martinovic, Matko Batos +1
In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two v…
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication
Goran Vasiljevic, Tamara Petrovic, Barbara Arbanas +1
In this paper, we present a dynamic median consensus protocol for multi-agent systems using acoustic communication. The motivating target scenario is a multi-agent system consistin…
Vision-based system for a real-time detection and following of UAV
Antonella Barisic, Marko Car, Stjepan Bogdan
In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airbor…
Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks
Marko Krizmancic, Barbara Arbanas, Tamara Petrovic +2
In this paper, we study a cooperative aerial-ground robotic team and its application to the task of automated construction. We propose a solution for planning and coordinating the…
Exploiting Null Space in Aerial Manipulation through Model-In-The-Loop Motion Planning
Antun Ivanovic, Marko Car, Matko Orsag +1
This paper presents a method for aerial manipulator end-effector trajectory tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null space of the manipulator…
Autonomous, Mobile Manipulation in a Wall-building Scenario: Team LARICS at MBZIRC 2020
Ivo Vatavuk, Marsela Polić, Ivan Hrabar +3
In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team…
Sim2Air - Synthetic aerial dataset for UAV monitoring
Antonella Barisic, Frano Petric, Stjepan Bogdan
In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by ap…
Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teams
Barbara Arbanas Ferreira, Tamara Petrović, Stjepan Bogdan
In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks tha…
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration
Ana Batinovic, Antun Ivanovic, Tamara Petrovic +1
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as L…
Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments
Lovro Markovic, Marin Kovac, Robert Milijas +2
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliab…
Distributed Allocation and Scheduling of Tasks with Cross-Schedule Dependencies for Heterogeneous Multi-Robot Teams
Barbara Arbanas Ferreira, Tamara Petrović, Matko Orsag +2
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a dis…
Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory
Antonella Barisic, Frano Petric, Stjepan Bogdan
This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's traj…
Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation
Juraj Orsulić, Robert Milijas, Ana Batinovic +3
This paper describes an application of the Cartographer graph SLAM stack as a pose sensor in a UAV feedback control loop, with certain application-specific changes in the SLAM stac…
A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration
Ana Batinović, Tamara Petrović, Antun Ivanovic +2
In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each…
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles
Robert Milijas, Lovro Markovic, Antun Ivanovic +2
This paper investigates the use of LiDAR SLAM as a pose feedback for autonomous flight. Cartographer, LOAM and HDL graph SLAM are first introduced on a conceptual level and later t…