7 papers
Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance
Pavel Pochobradský, OndÅej Procházka, Robert PÄniÄka +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…
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…
LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
Parakh M. Gupta, OndÅej Procházka, Jan HÅebec +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, OndÅej 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…
State estimation of marine vessels affected by waves by unmanned aerial vehicles
Filip Novák, Tomáš BáÄa, OndÅej 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 BáÄa, OndÅej 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…