22 citations · 27 across the 6 of their papers we have counts for
6 papers
BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
Parakh M. Gupta, Matej Mihulka, Matej Novosad +2
Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during an agile high-speed flight due to the depletion of the battery and subsequent loss of maximum ava…
Dynamical Vehicle Orienteering Problem for Multi-Rotor Unmanned Aerial Vehicles
František Nekovář, Matej Novosad, Martin Saska +1
This paper introduces the Dynamical Vehicle Orienteering Problem (DVOP), a generalization of the Orienteering Problem (OP). The OP maximizes the reward collected from spatial targe…
Onboard 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…
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…
Real-time Planning of Minimum-time Trajectories for Agile UAV Flight
Krystof Teissing, Matej Novosad, Robert Penicka +1
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly tim…
CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments
Matej Novosad, Robert Penicka, Vojtech Vonasek
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such dist…