25 citations · 51 across the 7 of their papers we have counts for
9 papers · 1 filter
NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments
Ondřej Procházka, Juraj Pauko, Robert Pěnička +1
Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the reference also needs to be…
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…
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…
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…
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…
CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV
Parakh M. Gupta, Ondřej Procházka, Tiago Nascimento +1
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land…
Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat
Ondřej Procházka, Filip Novák, Tomáš Báča +3
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehi…
State estimation of marine vessels affected by waves by unmanned aerial vehicles
Filip Novák, Tomáš Báča, Ondřej Procházka +1
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a…
Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves
Filip Novák, Tomáš Báča, Ondřej Procházka +1
This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characteri…