Jan Faigl
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Decentralized multi-robot exploration under low-bandwidth communications Open
In this paper, we address the problem of coordinating multiple robots to explore large-scale underground areas covered with low-bandwidth communication. Based on the evaluation of existing coordination methods, we found that well-performin…
View article: Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets Open
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting dy…
Multi-vehicle Dynamic Water Surface Monitoring Open
Repeated exploration of a water surface to detect objects of interest and their subsequent monitoring is important in search-and-rescue or ocean clean-up operations. Since the location of any detected object is dynamic, we propose to addre…
Autonomous Multi-Robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals Open
Autonomous navigation and multi-robot exploration framework for ground robots are key parts of the robotic system deployed by the team CTU-CRAS-NORLAB in the final event of the Subterranean (SubT) Challenge organized by the Defense Advance…
Guest Editorial Special Issue on the Role of Smart Sensing for Communicable Diseases (Including COVID-19) Open
Communicable diseases spread quickly among people and animals by an infectious medium, including bacteria, viruses, etc. Recently, the world has witnessed the biggest outbreak of the century due to the novel coronavirus (COVID-19) disease.…
Autonomous robotic exploration with simultaneous environment and traversability models learning Open
In this study, we address generalized autonomous mobile robot exploration of unknown environments where a robotic agent learns a traversability model and builds a spatial model of the environment. The agent can benefit from the model learn…
Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning Open
This paper concerns fault-tolerant power transmission line inspection\nplanning as a generalization of the multiple traveling salesmen problem. The\naddressed inspection planning problem is formulated as a single-depot\nmultiple-vehicle sc…
Editorial: Special Issue on Advancements and Lessons Learned during Phases I and II of the DARPA Subterranean Challenge Open
Complex underground environments such as tunnels, underground urban settings, and natural caves present significant challenges for first responders in the event of an emergency. Each of these subdomains has unique hazards while sharing som…
View article: System for Multi-Robotic Exploration of Underground Environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge
System for Multi-Robotic Exploration of Underground Environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge Open
We present a field report of the CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organized by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and ef…
T*$\boldsymbol{\varepsilon}$—Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems Open
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
View article: System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge
System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge Open
We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and effici…
Guest Editorial Special Issue on Smart Sensing for Agriculture Open
Seamless integration of sensor technologies with traditional agriculture has led to a revolutionary transformation in agriculture. This has motivated researchers to use sensor technology, GPS guidance, control systems, drones, and software…
Multi-Tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection Open
This letter concerns optimal power transmission line inspection formulated as\na proposed generalization of the traveling salesman problem for a multi-route\none-depot scenario. The problem is formulated for an inspection vehicle with a\nl…
Self-Learning Event Mistiming Detector Based on Central Pattern Generator Open
A repetitive movement pattern of many animals, a gait, is controlled by the Central Pattern Generator (CPG), providing rhythmic control synchronous to the sensed environment. As a rhythmic signal generator, the CPG can control the motion p…
Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg Open
Multi-legged walking robots are suitable platforms for unstructured and rough terrains because of their immense locomotion capabilities. These are, however, redeemed by more sophisticated control and energy-demanding motion in comparison t…
WiSM: Windowing Surrogate Model for Evaluation of Curvature-Constrained Tours With Dubins Vehicle Open
Dubins tours represent a solution of the Dubins Traveling Salesman Problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is fe…
WiSM: Windowing Surrogate Model for Evaluation of Curvature-Constrained\n Tours with Dubins vehicle Open
Dubins tours represent a solution of the Dubins Traveling Salesman Problem\n(DTSP) that is a variant of the optimization routing problem to determine a\ncurvature-constrained shortest path to visit a set of locations such that the\npath is…
Online Incremental Learning of the Terrain Traversal Cost in Autonomous Exploration Open
In this paper, we address motion efficiency in autonomous robot exploration with multi-legged walking robots that can traverse rough terrains at the cost of lower efficiency and greater body vibration.We propose a robotic system for online…
View article: Unsupervised learning‐based flexible framework for surveillance planning with aerial vehicles
Unsupervised learning‐based flexible framework for surveillance planning with aerial vehicles Open
The herein studied problem is motivated by practical needs of our participation in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 in which a team of unmanned aerial vehicles (UAVs) is requested to collect objects in t…
On Locomotion Control Using Position Feedback Only in Traversing Rough Terrains with Hexapod Crawling Robot Open
In this paper, we report on our results on improved locomotion control of small and affordable hexapod crawling robot using only position feedback from the utilized servo motors. Multi-legged robots represent complex mechanical systems wit…
Optimal Solution of the Generalized Dubins Interval Problem Open
The problem addressed in this paper is motivated by surveillance mission planning with curvature-constrained trajectories for Dubins vehicles that can be formulated as the Dubins Traveling Salesman Problem with Neighborhoods (DTSPN).We aim…