57 citations · 91 across the 9 of their papers we have counts for
10 papers
L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control
Lukáš Kotek, Ondřej Procházka, Vojtěch Vonásek +2
This work proposes the L1 Adaptive Model Predictive Path Integral (L1-MPPI). It cascades L1 adaptive control with the Model Predictive Path Integral (MPPI) to improve tracking of h…
Enhancing Sampling-based Planning with a Library of Paths
Michal Minařík, Vojtěch Vonásek, Robert Pěnička
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applicat…
Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance
Pavel Pochobradský, Ondřej Procházka, Robert Pěnička +2
In this letter, we introduce Geometric Model Predictive Path Integral (GMPPI), a sampling-based controller capable of tracking agile trajectories while avoiding obstacles. In each…
A Framework for Joint Grasp and Motion Planning in Confined Spaces
Martin Rudorfer, Jiří Hartvich, Vojtěch Vonásek
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suita…
KRRF: Kinodynamic Rapidly-exploring Random Forest algorithm for multi-goal motion planning
Petr Ježek, Michal Minařík, Vojtěch Vonásek +1
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimiz…
Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set
Jonáš Kříž, Vojtěch Vonásek
The asymptotically optimal version of Rapidly-exploring Random Tree (RRT*) is often used to find optimal paths in a high-dimensional configuration space. The well-known issue of RR…
FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy
David Čapek, Jan Hrnčíř, Tomáš Báča +4
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulato…
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
Michal Minarik, Robert Penicka, Vojtech Vonasek +1
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Int…
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…
Multi-goal path planning using multiple random trees
Jaroslav Janoš, Vojtěch Vonásek, Robert Pěnička
In this paper, we propose a novel sampling-based planner for multi-goal path planning among obstacles, where the objective is to visit predefined target locations while minimizing…