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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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

Airport snow shoveling.
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