Cybernetics and robotics, FEE, Czech Technical University in Prague, supervised by Robert Pěnička
Diploma thesis: Path Planning with Different Homotopy Classes in Environment with Obstacles
(Dean's Award for Outstanding Thesis)

TOPFLIGHT

A2RL x DCL

Trajectory and Mission Planning for Agile Flight of Aerial Robots in Cluttered Environmnents

Abu Dhabi Autonomous Racing League X Drone Champions League

1. Parakh M Gupta, Ondřej Procházka, Jan Hřebec, Matej Novosad, Robert Pěnička and Martin Saska. LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles. In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (). 2025, 1186-1193. DOI BibTeX

   @inproceedings{11246583,
   	author = "Gupta, Parakh M. and Procházka, Ondřej and Hřebec, Jan and Novosad, Matej and Pěnička, Robert and Saska, Martin",
   	booktitle = "2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
   	title = "LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles",
   	year = 2025,
   	volume = "",
   	number = "",
   	pages = "1186-1193",
   	keywords = "Actuators;Trajectory tracking;Performance gain;Autonomous aerial vehicles;Robustness;Real-time systems;Trajectory;Vehicle dynamics;Standards;Testing",
   	doi = "10.1109/IROS60139.2025.11246583"
   }
   

2. Krystof Teissing, Matej Novosad, Robert Penicka and Martin Saska. Real-Time Planning of Minimum-Time Trajectories for Agile UAV Flight. IEEE Robotics and Automation Letters 9(11):10351-10358, 2024. URL PDF video code, DOI BibTeX

   @article{teissing2024pmm,
   	author = "Teissing, Krystof and Novosad, Matej and Penicka, Robert and Saska, Martin",
   	journal = "IEEE Robotics and Automation Letters",
   	title = "Real-Time Planning of Minimum-Time Trajectories for Agile UAV Flight",
   	year = 2024,
   	volume = 9,
   	number = 11,
   	pages = "10351-10358",
   	doi = "10.1109/LRA.2024.3471388",
   	url = "https://ieeexplore.ieee.org/document/10700666",
   	pdf = "https://arxiv.org/pdf/2409.16074.pdf",
   	video = "https://www.youtube.com/watch?v=wArd536Amro",
   	code = "https://github.com/ctu-mrs/pmm_uav_planner"
   }
   

3. Matej Novosad, Robert Penicka and Vojtech Vonasek. CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments. IEEE Robotics and Automation Letters 8(11):7336-7343, 2023. URL PDF video code, DOI BibTeX

   @article{novosad2023ctopprm,
   	author = "Novosad, Matej and Penicka, Robert and Vonasek, Vojtech",
   	journal = "IEEE Robotics and Automation Letters",
   	title = "CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments",
   	year = 2023,
   	volume = 8,
   	number = 11,
   	pages = "7336-7343",
   	doi = "10.1109/LRA.2023.3315539",
   	url = "https://doi.org/10.1109%2Flra.2023.3315539",
   	pdf = "https://arxiv.org/pdf/2305.13969.pdf",
   	video = "https://www.youtube.com/watch?v=azNrWBU5cAk",
   	code = "https://github.com/ctu-mrs/CTopPRM"
   }