Robert Pěnička
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View article: Enhancing sampling-based planning with a library of paths
Enhancing sampling-based planning with a library of paths Open
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 applications such as bin-picking and assembly. The commonly used sa…
View article: Adaptive Resilient Swarming Using Attention and Reinforcement Learning
Adaptive Resilient Swarming Using Attention and Reinforcement Learning Open
In this extended abstract, we introduce a research proposal for a novel learning-based approach to achieve adaptive and resilient swarming of Unmanned Aerial Vehicle (UAV) systems through the integration of attention mechanisms and reinfor…
View article: LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles Open
[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 large tracking errors. Existing Nonlinear Model Predictive Con…
View article: FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy
FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy Open
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 simulators often lack high-level autonomy, hindering their immediat…
View article: CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments Open
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 agents. The utility of the proposed approach is particularly…
View article: KRRF: Kinodynamic Rapidly-Exploring Random Forest Algorithm for Multi-Goal Motion Planning
KRRF: Kinodynamic Rapidly-Exploring Random Forest Algorithm for Multi-Goal Motion Planning Open
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 minimize the cost of the trajectory planned in a cluttered environ…
View article: Real-Time Planning of Minimum-Time Trajectories for Agile UAV Flight
Real-Time Planning of Minimum-Time Trajectories for Agile UAV Flight Open
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to en…
View article: Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles Open
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 Integral (MPPI) methodology. MPPI allows the use of the full n…
View article: Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications Open
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety o…
View article: Energy-Aware Multi-UAV Coverage Mission Planning With Optimal Speed of Flight
Energy-Aware Multi-UAV Coverage Mission Planning With Optimal Speed of Flight Open
This paper tackles the problem of planning minimum-energy coverage paths for\nmultiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a\ncrucial problem for many UAV applications such as inspection and aerial survey.\nHowev…
View article: Autonomous Drone Racing: A Survey
Autonomous Drone Racing: A Survey Open
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
View article: MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems Open
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with …
View article: Learning Perception-Aware Agile Flight in Cluttered Environments
Learning Perception-Aware Agile Flight in Cluttered Environments Open
Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial …
View article: CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments
CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments Open
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 distinct paths, e.g., going around an obstacle from a different…
View article: Autonomous Drone Racing: A Survey
Autonomous Drone Racing: A Survey Open
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
View article: Time-Optimal Online Replanning for Agile Quadrotor Flight
Time-Optimal Online Replanning for Agile Quadrotor Flight Open
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the time-opt…
View article: Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight
Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight Open
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners fo…
View article: MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments Open
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configuratio…
View article: Learning Minimum-Time Flight in Cluttered Environments
Learning Minimum-Time Flight in Cluttered Environments Open
We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory repr…
View article: Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments
Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments Open
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
View article: Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments
Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments Open
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
View article: Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications
Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications Open
A framework for computing feasible and constrained trajectories for a fleet\nof quad-rotors leveraging on Signal Temporal Logic (STL) specifications for\npower line inspection tasks is proposed in this paper. The planner allows the\nformul…
View article: Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition
Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition Open
This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The wal…
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…
View article: Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs
Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs Open
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