2024
Real-Time Planning of Minimum-Time Trajectories for Agile UAV Flight.
IEEE Robotics Autom. Lett., November, 2024
A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles.
IEEE Robotics Autom. Lett., October, 2024
Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture.
IEEE Robotics Autom. Lett., October, 2024
New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments.
IEEE Robotics Autom. Mag., June, 2024
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation.
IEEE Robotics Autom. Lett., June, 2024
Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication.
IEEE Robotics Autom. Lett., June, 2024
A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration.
J. Intell. Robotic Syst., June, 2024
When Robotics Meets Wireless Communications: An Introductory Tutorial.
Proc. IEEE, February, 2024
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
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IEEE Trans. Robotics, 2024
Energy-Aware Multi-UAV Coverage Mission Planning With Optimal Speed of Flight.
IEEE Robotics Autom. Lett., 2024
Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles.
CoRR, 2024
Autonomous localization of multiple ionizing radiation sources using miniature single-layer Compton cameras onboard a group of micro aerial vehicles.
CoRR, 2024
Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study.
CoRR, 2024
State Estimation of Marine Vessels Affected by Waves by Unmanned Aerial Vehicles.
CoRR, 2024
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study.
CoRR, 2024
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance.
CoRR, 2024
Fast Collective Evasion in Self-Localized Swarms of Unmanned Aerial Vehicles.
CoRR, 2024
Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping.
CoRR, 2024
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles.
CoRR, 2024
Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers.
CoRR, 2024
PACNav: Enhancing Collective Navigation for UAV Swarms in Communication-Challenged Environments.
CoRR, 2024
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications.
CoRR, 2024
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures.
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CoRR, 2024
Bio-inspired visual relative localization for large swarms of UAVs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves.
Proceedings of the 21st International Conference on Informatics in Control, 2024
Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework.
Proceedings of the 21st International Conference on Informatics in Control, 2024
Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security.
Proceedings of the IEEE International Conference on Acoustics, 2024
Cooperative Indoor Exploration Leveraging a Mixed-Size UAV Team with Heterogeneous Sensors.
Proceedings of the 20th IEEE International Conference on Automation Science and Engineering, 2024
2023
Multi-Vehicle Dynamic Water Surface Monitoring.
IEEE Robotics Autom. Lett., October, 2023
Autonomous cooperative wall building by a team of Unmanned Aerial Vehicles in the MBZIRC 2020 competition.
Robotics Auton. Syst., September, 2023
2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education].
IEEE Robotics Autom. Mag., March, 2023
Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties.
Robotics Auton. Syst., February, 2023
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT.
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Field Robotics, January, 2023
Landing a UAV in Harsh Winds and Turbulent Open Waters.
IEEE Robotics Autom. Lett., 2023
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems.
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J. Intell. Robotic Syst., 2023
Energy-Efficient Fixed-Wing UAV Relay With Considerations of Airframe Shadowing.
IEEE Commun. Lett., 2023
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments.
CoRR, 2023
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation in Degenerated Environments.
CoRR, 2023
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle.
CoRR, 2023
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration.
CoRR, 2023
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective.
CoRR, 2023
Communications-Aware Robotics: Challenges and Opportunities.
CoRR, 2023
Distributed formation-enforcing control for UAVs robust to observation noise in relative pose measurements.
CoRR, 2023
On Onboard LiDAR-based Flying Object Detection.
CoRR, 2023
Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization.
CoRR, 2023
New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy.
CoRR, 2023
PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization.
CoRR, 2023
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments.
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CoRR, 2023
A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks.
CoRR, 2023
A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV.
CoRR, 2023
An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs.
CoRR, 2023
LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments.
CoRR, 2023
Deployment of Reliable Visual Inertial Odometry Approaches for Unmanned Aerial Vehicles in Real-world Environment.
CoRR, 2023
Decentralized swarms of unmanned aerial vehicles for search and rescue operations without explicit communication.
Auton. Robots, 2023
2022
Extinguishing Real Fires by Fully Autonomous Multirotor UAVs in the MBZIRC 2020 Competition.
Field Robotics, March, 2022
Towards new frontiers in mobile manipulation: Team CTU-UPenn-NYU at MBZIRC 2020.
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Field Robotics, March, 2022
A Multi-MAV System for the Autonomous Elimination of Multiple Targets in the MBZIRC 2020 Competition.
Field Robotics, March, 2022
System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge.
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Field Robotics, March, 2022
Autonomous capture of agile flying objects using UAVs: The <i>MBZIRC 2020</i> challenge.
Robotics Auton. Syst., 2022
SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning.
IEEE Robotics Autom. Lett., 2022
Side-Pull Maneuver: A Novel Control Strategy for Dragging a Cable-Tethered Load of Unknown Weight Using a UAV.
IEEE Robotics Autom. Lett., 2022
Adaptive arbitration of aerial swarm interactions through a Gaussian kernel for coherent group motion.
Frontiers Robotics AI, 2022
Present and Future of SLAM in Extreme Underground Environments.
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CoRR, 2022
Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Distributed Three Dimensional Flocking of Autonomous Drones.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning.
Proceedings of the 27th IEEE International Conference on Emerging Technologies and Factory Automation, 2022
2021
Design and deployment of an autonomous unmanned ground vehicle for urban firefighting scenarios.
Field Robotics, October, 2021
Trajectory Planning of Quadrotor Systems for Various Objective Functions.
Robotica, 2021
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment.
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IEEE Robotics Autom. Lett., 2021
Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications.
IEEE Robotics Autom. Lett., 2021
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles.
IEEE Robotics Autom. Lett., 2021
Multi-Tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection.
IEEE Robotics Autom. Lett., 2021
Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles.
IEEE Robotics Autom. Lett., 2021
Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles.
J. Intell. Robotic Syst., 2021
AL-TUNE: A Family of Methods to Effectively Tune UAV Controllers in In-flight Conditions.
J. Intell. Robotic Syst., 2021
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles.
J. Intell. Robotic Syst., 2021
An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments.
J. Field Robotics, 2021
Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle.
ISPRS Int. J. Geo Inf., 2021
A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications.
CoRR, 2021
Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle.
IEEE Access, 2021
Multi-Robot Sensor Fusion Target Tracking With Observation Constraints.
IEEE Access, 2021
A Multi-UAV System for Detection and Elimination of Multiple Targets.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Autonomous Flying into Buildings in a Firefighting Scenario.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations.
Proceedings of the 29th European Signal Processing Conference, 2021
2020
Marker-Less Micro Aerial Vehicle Detection and Localization Using Convolutional Neural Networks.
IEEE Robotics Autom. Lett., 2020
Localization of Ionizing Radiation Sources by Cooperating Micro Aerial Vehicles With Pixel Detectors in Real-Time.
IEEE Robotics Autom. Lett., 2020
Wildfire Fighting by Unmanned Aerial System Exploiting Its Time-Varying Mass.
IEEE Robotics Autom. Lett., 2020
A Robust UAV System for Operations in a Constrained Environment.
IEEE Robotics Autom. Lett., 2020
Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments.
IEEE Robotics Autom. Lett., 2020
Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles.
IEEE Robotics Autom. Lett., 2020
Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera.
CoRR, 2020
Formation control of unmanned micro aerial vehicles for straitened environments.
Auton. Robots, 2020
In-flight Efficient Controller Auto-tuning using a Pair of UAVs.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
On training datasets for machine learning-based visual relative localization of micro-scale UAVs.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
2019
Real-Time Model-Free Minimum-Seeking Autotuning Method for Unmanned Aerial Vehicle Controllers Based on Fibonacci-Search Algorithm.
Sensors, 2019
UVDAR System for Visual Relative Localization With Application to Leader-Follower Formations of Multirotor UAVs.
IEEE Robotics Autom. Lett., 2019
Onboard Marker-Less Detection and Localization of Non-Cooperating Drones for Their Safe Interception by an Autonomous Aerial System.
IEEE Robotics Autom. Lett., 2019
Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments With Obstacles.
IEEE Robotics Autom. Lett., 2019
Vision techniques for on-board detection, following, and mapping of moving targets.
J. Field Robotics, 2019
Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles.
J. Field Robotics, 2019
Unsupervised learning-based flexible framework for surveillance planning with aerial vehicles.
J. Field Robotics, 2019
Autonomous landing on a moving vehicle with an unmanned aerial vehicle.
J. Field Robotics, 2019
Variable Neighborhood Search for the Set Orienteering Problem and its application to other Orienteering Problem variants.
Eur. J. Oper. Res., 2019
Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle.
Auton. Robots, 2019
Position and attitude control of multi-rotor aerial vehicles: A survey.
Annu. Rev. Control., 2019
Coverage optimization in the Cooperative Surveillance Task using Multiple Micro Aerial Vehicles.
Proceedings of the 2019 IEEE International Conference on Systems, Man and Cybernetics, 2019
Real-time localization of transmission sources using a formation of micro aerial vehicles.
Proceedings of the 2019 IEEE International Conference on Real-time Computing and Robotics, 2019
DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments.
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Proceedings of the Modelling and Simulation for Autonomous Systems, 2019
Design of an Active-Reliable Grasping Mechanism for Autonomous Unmanned Aerial Vehicles.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2019
Timepix Radiation Detector for Autonomous Radiation Localization and Mapping by Micro Unmanned Vehicles.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning.
Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation, 2019
2018
Localization, Grasping, and Transportation of Magnetic Objects by a Team of MAVs in Challenging Desert-Like Environments.
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IEEE Robotics Autom. Lett., 2018
Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2018
Real-Time Localization of Transmission Sources by a Formation of Helicopters Equipped with a Rotating Directional Antenna.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2018
Autonomous Compact Monitoring of Large Areas Using Micro Aerial Vehicles with Limited Sensory Information and Computational Resources.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2018
Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2018
Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Increasing Diversity of Solutions in Sampling-based Path Planning.
Proceedings of the 4th International Conference on Robotics and Artificial Intelligence, 2018
Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform.
Proceedings of the 14th IEEE International Conference on Automation Science and Engineering, 2018
2017
Dubins Orienteering Problem.
IEEE Robotics Autom. Lett., 2017
System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization.
Auton. Robots, 2017
Self-localization of Unmanned Aerial Vehicles Based on Optical Flow in Onboard Camera Images.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2017
Large Sensors with Adaptive Shape Realised by Self-stabilised Compact Groups of Micro Aerial Vehicles.
Proceedings of the Robotics Research, The 18th International Symposium, 2017
Motion planning with motion primitives for industrial bin picking.
Proceedings of the 22nd IEEE International Conference on Emerging Technologies and Factory Automation, 2017
Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control.
Proceedings of the 22nd IEEE International Conference on Emerging Technologies and Factory Automation, 2017
Reactive Dubins traveling salesman problem for replanning of information gathering by UAVs.
Proceedings of the 2017 European Conference on Mobile Robots, 2017
On solution of the Dubins touring problem.
Proceedings of the 2017 European Conference on Mobile Robots, 2017
Coherent swarming of unmanned micro aerial vehicles with minimum computational and communication requirements.
Proceedings of the 2017 European Conference on Mobile Robots, 2017
Autonomous landing on a moving car with unmanned aerial vehicle.
Proceedings of the 2017 European Conference on Mobile Robots, 2017
2016
Predictive control and stabilization of nonholonomic formations with integrated spline-path planning.
Robotics Auton. Syst., 2016
Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles.
J. Intell. Robotic Syst., 2016
Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs.
J. Intell. Robotic Syst., 2016
Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control.
Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics, 2016
Embedded model predictive control of unmanned micro aerial vehicles.
Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics, 2016
Fusion of Monocular Visual-Inertial Measurements for Three Dimensional Pose Estimation.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2016
Formations of unmanned micro aerial vehicles led by migrating virtual leader.
Proceedings of the 14th International Conference on Control, 2016
2015
High-level motion planning for CPG-driven modular robots.
Robotics Auton. Syst., 2015
Motion planning with adaptive motion primitives for modular robots.
Appl. Soft Comput., 2015
2014
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups.
J. Intell. Robotic Syst., 2014
A Practical Multirobot Localization System.
J. Intell. Robotic Syst., 2014
Coordination and navigation of heterogeneous MAV-UGV formations localized by a 'hawk-eye'-like approach under a model predictive control scheme.
Int. J. Robotics Res., 2014
Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles.
Proceedings of the Modelling and Simulation for Autonomous Systems, 2014
Fast on-board motion planning for modular robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Swarms of micro aerial vehicles stabilized under a visual relative localization.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Rapidly Exploring Random Trees-based Initialization of MPC Technique Designed for Formations of MAVs.
Proceedings of the ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, Volume 2, Vienna, Austria, 1, 2014
2013
Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs.
J. Intell. Robotic Syst., 2013
Reply to the Discussions on: "Control and navigation in manoeuvres of formations of unmanned mobile vehicles".
Eur. J. Control, 2013
Control and navigation in manoeuvres of formations of unmanned mobile vehicles.
Eur. J. Control, 2013
Motion planning for a cable driven parallel multiple manipulator emulating a swarm of MAVs.
Proceedings of the 9th Workshop on Robot Motion and Control, 2013
Global motion planning for modular robots with local motion primitives.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Low-cost embedded system for relative localization in robotic swarms.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Trajectory Planning and Stabilization for Formations Acting in Dynamic Environments.
Proceedings of the Progress in Artificial Intelligence, 2013
2012
Coordination and navigation of heterogeneous UAVs-UGVs teams localized by a hawk-eye approach.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Low cost MAV platform AR-drone in experimental verifications of methods for vision based autonomous navigation.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Predictive Control of Unmanned Formations.
Proceedings of the ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics, Volume 2, Rome, Italy, 28, 2012
Cooperative μUAV-UGV autonomous indoor surveillance.
Proceedings of the International Multi-Conference on Systems, Signals & Devices, 2012
2011
Roads sweeping by unmanned multi-vehicle formations.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
2010
Control of ad-hoc formations for autonomous airport snow shoveling.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers.
Proceedings of the ICINCO 2010, 2010
2009
Trajectory planning and optimal control for formations of autonomous robots (Die Bahnplanung und die optimale Steuerung für Formationen der autonomen Roboter)
PhD thesis, 2009
Application of coordinated multi-vehicle formations for snow shoveling on airports.
Intell. Serv. Robotics, 2009
Control and navigation of formations of car-like robots on a receding horizon.
Proceedings of the IEEE International Conference on Control Applications, 2009
2008
Efficient airport snow shoveling by applying autonomous multi-vehicle formations.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
Route scheduling approach for airport snow shoveling using formations of autonomous ploughs.
Proceedings of the 10th International Conference on Control, 2008
2007
Hierarchical spline path planning method for complex environments.
Proceedings of the ICINCO 2007, 2007
Autonomous Multi-vehicle Formations for Cooperative Airfield Snow Shoveling.
Proceedings of the 3rd European Conference on Mobile Robots, 2007
Voronoi strains - a spline path planning algorithm for complex environments.
Proceedings of the IASTED International Conference on Artificial Intelligence and Applications, 2007
2006
Elliptic net - a path planning algorithm for dynamic environments.
Proceedings of the ICINCO 2006, 2006
Robot Path Planning using Particle Swarm Optimization of Ferguson Splines.
Proceedings of 11th IEEE International Conference on Emerging Technologies and Factory Automation, 2006