5 papers
Motor Angular Speed Preintegration for Multirotor UAV State Estimation
MatÄj PetrlÃk, Filip Novák, Robert PÄniÄka +1
A precise state estimate is crucial for a tight feedback control that enables agile and near-obstacle flights of UAVs. The state-of-the-art methods fuse slow pose measurements with…
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning
Tomáš Musil, MatÄj PetrlÃk, Martin Saska
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dens…
Vision-only UAV State Estimation for Fast Flights Without External Localization Systems: A2RL Drone Racing Finalist Approach
Filip Novák, MatÄj PetrlÃk, 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…
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
Tomas Baca, Matej Petrlik, Matous Vrba +4
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We…
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…