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Position:
PhD student
Room:
KN:E-119

 

 Google Scholar  |  |  |  ResearchGate | ORCID iD icon0000-0002-4823-8291
     
PhD research topic:   Detection and relative localization for autonomous aerial vehicles
 
Education:   2018 - Ing. (=M.Sc.) Cybernetics and Robotics, FEE, Czech Technical University in Prague, supervisor M. Saska
     
Current projects:   Eagle.One (2018-now)
    AERIAL-CORE (2020-2023)
     
Past projects:   MBZIRC 20 (2018-2020)
    DARPA Subterranean Challenge (2019-2022)
     
Research Interest:   Unmanned Aerial VehiclesMulti-robot systems, Computer vision, Marker-less relative UAV localization
     
Research stays:   2018 - University of Pennsylvania, USA - GRASP lab
     
Supervised theses:   Ing. (= M.Sc.):
    Michal Pliska - Interception Trajectory Planning for Unmanned Aerial Vehicles [pdf]
    Martin Křížek - Object Count and Density Estimation for Relative Localization in Swarms of Unmanned Aerial Vehicles [pdf]
    Michal Hloušek - Gimbal camera detection and tracking for a small autonomous UAV [pdf]
    Tereza Uhrová - Detection of Bark-Beetle Infestation Using an Autonomous UAV [pdf]
    Bc.:
    Omar Msalha - Comparison of Mapping Algorithms for Deployment Onboard Robots with Uncertain Pose [pdf]
    Adam Škuta - Detection of Drones Using Neural Networks from Combined RGB Camera and LIDAR Data [pdf]
    Evžen Kubov - Implementation of a Neural Network for Autonomous Trail Following [pdf]
    Aimira Baitieva - Drone Detection and Relative Localization Using an RGB and Thermal Camera [pdf]
    Mykola Morhuněnko - Multi-camera visual obstacle avoidance for micro aerial vehicles [pdf not yet available]
     
Publications:   Journal articles:
   
  1. D Hert, T Baca, P Petracek, V Kratky, R Penicka, V Spurny, M Petrlik, M Vrba, D Zaitlik, P Stoudek, V Walter, P Stepan, J Horyna, V Pritzl, M Sramek, A Ahmad, G Silano, D Bonilla Licea, P Stibinger, T Nascimento and M Saska. MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems. Journal of Intelligent & Robotic Systems, May 2023. PDF BibTeX

    @article{HertJINTHW_paper,
    	author = "{Hert}, D. and {Baca}, T. and {Petracek}, P. and {Kratky}, V. and {Penicka}, R. and {Spurny}, V. and {Petrlik}, M. and {Vrba}, M. and {Zaitlik}, D. and {Stoudek}, P. and {Walter}, V. and {Stepan}, P. and {Horyna}, J. and {Pritzl}, V. and {Sramek}, M. and {Ahmad}, A. and {Silano}, G. and {Bonilla Licea}, D. and {Stibinger}, P. and {Nascimento}, T. and {Saska}, M.",
    	month = "May",
    	title = "{MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems}",
    	year = 2023,
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	publisher = "Springer",
    	pdf = "data/papers/JINT2023Hert.pdf"
    }
    
  2. Matej Petrlik, Pavel Petracek, Vit Kratky, Tomas Musil, Yurii Stasinchuk, Matous Vrba, Tomas Baca, Daniel Hert, Martin Pecka, Tomas Svoboda and Martin Saska. UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT. Field Robotics 3:1–68, January 2023. PDF, DOI BibTeX

    @article{petrlik2023uavs,
    	author = "Petrlik, Matej and Petracek, Pavel and Kratky, Vit and Musil, Tomas and Stasinchuk, Yurii and Vrba, Matous and Baca, Tomas and Hert, Daniel and Pecka, Martin and Svoboda, Tomas and Saska, Martin",
    	journal = "Field Robotics",
    	title = "{UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT}",
    	year = 2023,
    	volume = 3,
    	pages = "1--68",
    	doi = "https://doi.org/10.55417/fr.2023001",
    	month = "January",
    	pdf = "https://fieldrobotics.net/Field_Robotics/Volume_3_files/Vol3_01.pdf"
    }
    
  3. Václav Pritzl, Matouš Vrba, Claudio Tortorici, Reem Ashour and Martin Saska. Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties. Robotics and Autonomous Systems 160:104315, 2023. PDF, DOI BibTeX

    @article{pritzl2023RAS,
    	title = "Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties",
    	journal = "Robotics and Autonomous Systems",
    	volume = 160,
    	pages = 104315,
    	year = 2023,
    	issn = "0921-8890",
    	doi = "https://doi.org/10.1016/j.robot.2022.104315",
    	author = "Václav Pritzl and Matouš Vrba and Claudio Tortorici and Reem Ashour and Martin Saska",
    	pdf = "data/papers/pritzlRAS2022.pdf"
    }
    
  4. Matouš Vrba, Yurii Stasinchuk, Tomáš Báča, Vojtěch Spurný, Matěj Petrlík, Daniel Heřt, David Žaitlík and Martin Saska. Autonomous capture of agile flying objects using UAVs: The MBZIRC 2020 challenge. Robotics and Autonomous Systems 149:103970, March 2022. URL PDF, DOI BibTeX

    @article{vrba_ras2022,
    	title = "{Autonomous capture of agile flying objects using UAVs: The MBZIRC 2020 challenge}",
    	journal = "Robotics and Autonomous Systems",
    	volume = 149,
    	pages = 103970,
    	year = 2022,
    	month = "March",
    	issn = "0921-8890",
    	doi = "https://doi.org/10.1016/j.robot.2021.103970",
    	url = "https://www.sciencedirect.com/science/article/pii/S0921889021002396",
    	author = "Matouš Vrba and Yurii Stasinchuk and Tomáš Báča and Vojtěch Spurný and Matěj Petrlík and Daniel Heřt and David Žaitlík and Martin Saska",
    	keywords = "Unmanned aerial systems, Machine perception, Mobile robotics, Aerial safety",
    	pdf = "data/papers/vrba_ras2022.pdf"
    }
    
  5. Y Stasinchuk, M Vrba, T Báča, V Spurný, M Petrlík, D Heřt, D Žaitlík and M Saska. A Multi-MAV System for the Autonomous Elimination of Multiple Targets in the MBZIRC 2020 Competition. Field Robotics 2:1697–1720, 2022. PDF, DOI BibTeX

    @article{stasinchuk2022fr,
    	author = "Stasinchuk, Y. and Vrba, M. and Báča, T. and Spurný, V. and Petrlík, M. and Heřt, D. and Žaitlík, D. and Saska, M.",
    	journal = "Field Robotics",
    	title = "{A Multi-MAV System for the Autonomous Elimination of Multiple Targets in the MBZIRC 2020 Competition}",
    	year = 2022,
    	volume = 2,
    	pages = "1697--1720",
    	doi = "10.55417/fr.2022052",
    	pdf = "https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_52.pdf"
    }
    
  6. Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. URL PDF, DOI BibTeX

    @article{baca2021mrs,
    	author = "Baca, Tomas and Petrlik, Matej and Vrba, Matous and Spurny, Vojtech and Penicka, Robert and Hert, Daniel and Saska, Martin",
    	month = "May",
    	title = "{The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles}",
    	year = 2021,
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	publisher = "Springer",
    	volume = 102,
    	issue = 1,
    	number = 26,
    	pages = "1--28",
    	type = "article",
    	doi = "10.1007/s10846-021-01383-5",
    	pdf = "https://arxiv.org/pdf/2008.08050",
    	url = "https://link.springer.com/article/10.1007/s10846-021-01383-5"
    }
    
  7. M Vrba and M Saska. Marker-Less Micro Aerial Vehicle Detection and Localization Using Convolutional Neural Networks. IEEE Robotics and Automation Letters 5(2):2459-2466, April 2020. PDF, DOI BibTeX

    @article{vrba_ral2020,
    	author = "M. {Vrba} and M. {Saska}",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Marker-Less Micro Aerial Vehicle Detection and Localization Using Convolutional Neural Networks",
    	year = 2020,
    	volume = 5,
    	number = 2,
    	pages = "2459-2466",
    	doi = "10.1109/LRA.2020.2972819",
    	issn = "2377-3766",
    	month = "April",
    	pdf = "data/papers/vrba_ral2020.pdf"
    }
    
  8. M Petrlík, T Báča, D Heřt, M Vrba, T Krajník and M Saska. A Robust UAV System for Operations in a Constrained Environment. IEEE Robotics and Automation Letters 5(2):2169-2176, April 2020. PDF, DOI BibTeX

    @article{petrlik_ral2020,
    	author = "M. {Petrlík} and T. {Báča} and D. {Heřt} and M. {Vrba} and T. {Krajník} and M. {Saska}",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "A Robust UAV System for Operations in a Constrained Environment",
    	year = 2020,
    	volume = 5,
    	number = 2,
    	pages = "2169-2176",
    	keywords = "autonomous aerial vehicles;path planning;rescue robots;robust control;DARPA Subterranean Challenge;coal mine tunnel system;SAR operation;robust UAV system;constrained environment;autonomous system;inspection;constrained workspace;aerial platform;localization system;targeted SAR scenarios;tunnel circuit;aerial monitoring;search and rescue operation;robustness;ground robots;Aerial systems: perception and autonomy;search and rescue robots;robotics in hazardous fields",
    	doi = "10.1109/LRA.2020.2970980",
    	issn = "2377-3766",
    	month = "April",
    	pdf = "data/papers/petrlik2020ral.pdf"
    }
    
  9. M Vrba, D Heřt and M Saska. Onboard Marker-Less Detection and Localization of Non-Cooperating Drones for Their Safe Interception by an Autonomous Aerial System. IEEE Robotics and Automation Letters 4(4):3402-3409, October 2019. PDF, DOI BibTeX

    @article{vrba_ral2019,
    	author = "M. {Vrba} and D. {Heřt} and M. {Saska}",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Onboard Marker-Less Detection and Localization of Non-Cooperating Drones for Their Safe Interception by an Autonomous Aerial System",
    	year = 2019,
    	volume = 4,
    	number = 4,
    	pages = "3402-3409",
    	keywords = "Drones;Three-dimensional displays;Cameras;Target tracking;Robot vision systems;Trajectory;Aerial systems: perception and autonomy;field robots;multi-robot systems;recognition",
    	doi = "10.1109/LRA.2019.2927130",
    	issn = "2377-3766",
    	month = "Oct",
    	pdf = "data/papers/vrba_ral2019.pdf"
    }
    
    Conference articles:
   
  1. Martin Křížek, Matouš Vrba, Antonella Barišić Kulaš, Stjepan Bogdan and Martin Saska. Bio-inspired visual relative localization for large swarms of UAVs. In International Conference on Robotics and Automation (ICRA). 2024, . PDF, DOI BibTeX

    @inproceedings{krizek2024icra,
    	author = "Martin Křížek and Matouš Vrba and Antonella Barišić Kulaš and Stjepan Bogdan and Martin Saska",
    	booktitle = "International Conference on Robotics and Automation (ICRA)",
    	title = "Bio-inspired visual relative localization for large swarms of {UAVs}",
    	year = 2024,
    	organization = "IEEE",
    	pdf = "data/papers/bio-inspired-icra2024.pdf",
    	pages = "",
    	doi = "",
    	note = "accepted"
    }
    
  2. Vaclav Pritzl, Matous Vrba, Petr Stepan and Martin Saska. Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022, 526–535. PDF, DOI BibTeX

    @inproceedings{pritzl2022icuas,
    	author = "{Pritzl}, Vaclav and {Vrba}, Matous and {Stepan}, Petr and {Saska}, Martin",
    	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization}",
    	year = 2022,
    	month = "June",
    	organization = "IEEE",
    	pdf = "data/papers/ICUAS22_Pritzl.pdf",
    	pages = "526--535",
    	doi = "10.1109/ICUAS54217.2022.9836116"
    }
    
  3. Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Robert Penicka, Tiago Nascimento and Martin Saska. MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022, 1264–1273. PDF, DOI BibTeX

    @inproceedings{MRS2022ICUAS_HW,
    	author = "{Hert}, Daniel and {Baca}, Tomas and {Petracek}, Pavel and {Kratky}, Vit and {Spurny}, Vojtech and {Petrlik}, Matej and {Vrba}, Matous and {Zaitlik}, David and {Stoudek}, Pavel and {Walter}, Viktor and {Stepan}, Petr and {Horyna}, Jiri and {Pritzl}, Vaclav and {Silano}, Giuseppe and {Bonilla Licea}, Daniel and {Stibinger}, Petr and {Penicka}, Robert and {Nascimento}, Tiago and {Saska}, Martin",
    	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments}",
    	year = 2022,
    	month = "June",
    	organization = "IEEE",
    	pdf = "data/papers/ICUAS22_MRS_HW.pdf",
    	pages = "1264--1273",
    	doi = "10.1109/ICUAS54217.2022.9836083"
    }
    
  4. Yurii Stasinchuk, Matous Vrba, Matej Petrlik, Tomas Baca, Vojtech Spurny, Daniel Hert, David Zaitlik, Tiago Nascimento and Martin Saska. A Multi-UAV System for Detection and Elimination of Multiple Targets. In 2021 IEEE International Conference on Robotics and Automation (ICRA). May 2021, 555–561. PDF, DOI BibTeX

    @inproceedings{stasinchuk2021ICRA,
    	author = "Yurii {Stasinchuk} and Matous {Vrba} and Matej {Petrlik} and Tomas {Baca} and Vojtech {Spurny} and Daniel {Hert} and David {Zaitlik} and Tiago {Nascimento} and Martin {Saska}",
    	booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
    	title = "{A Multi-UAV System for Detection and Elimination of Multiple Targets}",
    	year = 2021,
    	pdf = "data/papers/stasinchuk2021ICRA.pdf",
    	month = "May",
    	pages = "555--561",
    	organization = "IEEE",
    	doi = "10.1109/ICRA48506.2021.9562057"
    }
    
  5. V Walter, M Vrba and M Saska. On training datasets for machine learning-based visual relative localization of micro-scale UAVs. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (). August 2020, 10674-10680. PDF BibTeX

    @inproceedings{walter_icra2020,
    	author = "V. {Walter} and M. {Vrba} and M. {Saska}",
    	booktitle = "2020 IEEE International Conference on Robotics and Automation (ICRA)",
    	title = "On training datasets for machine learning-based visual relative localization of micro-scale {UAVs}",
    	year = 2020,
    	volume = "",
    	number = "",
    	month = "Aug",
    	pages = "10674-10680",
    	pdf = "data/papers/walter2020_icra.pdf"
    }
    
  6. M Vrba, J Pogran, V Pritzl, V Spurný and M Saska. Real-time localization of transmission sources using a formation of micro aerial vehicles. In 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR). August 2019, 203-208. PDF, DOI BibTeX

    @inproceedings{vrba_rcar2019,
    	author = "M. {Vrba} and J. {Pogran} and V. {Pritzl} and V. {Spurný} and M. {Saska}",
    	booktitle = "2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)",
    	title = "Real-time localization of transmission sources using a formation of micro aerial vehicles",
    	year = 2019,
    	pages = "203-208",
    	keywords = "",
    	doi = "10.1109/RCAR47638.2019.9043942",
    	issn = "",
    	month = "Aug",
    	pdf = "data/papers/vrba_rcar2019.pdf"
    }
    
    Other publications (preprints etc.):
   
  1. Vit Kratky, Giuseppe Silano, Matous Vrba, Christos Papaioannidis, Ioannis Mademlis, Robert Penicka, Ioannis Pitas and Martin Saska. Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications. In ArXiv. March 2024, 1-8. pre-print, DOI BibTeX

    @inproceedings{Kratky2024IROS,
    	author = "{Kratky}, Vit and {Silano}, Giuseppe and {Vrba}, Matous and {Papaioannidis}, Christos and {Mademlis}, Ioannis and {Penicka}, Robert and {Pitas}, Ioannis and {Saska}, Martin",
    	title = "{Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications}",
    	year = 2024,
    	pages = "1-8",
    	month = 3,
    	booktitle = "ArXiv",
    	preprint = "data/papers/2403.15333.pdf",
    	link = "https://arxiv.org/abs/2403.15333",
    	doi = "10.48550/arXiv.2403.15333"
    }
    
  2. Václav Pritzl, Matouš Vrba, Petr Štěpán and Martin Saska. Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle. June 2023. URL PDF, DOI BibTeX

    @misc{pritzlFusionVisualInertialOdometry2023,
    	title = "Fusion of {Visual}-{Inertial} {Odometry} with {LiDAR} {Relative} {Localization} for {Cooperative} {Guidance} of a {Micro}-{Scale} {Aerial} {Vehicle}",
    	url = "http://arxiv.org/abs/2306.17544",
    	doi = "10.48550/arXiv.2306.17544",
    	urldate = "2023-07-05",
    	publisher = "arXiv",
    	author = "Pritzl, Václav and Vrba, Matouš and Štěpán, Petr and Saska, Martin",
    	month = "June",
    	year = 2023,
    	pdf = "https://arxiv.org/pdf/2306.17544"
    }
    
  3. Matouš Vrba, Viktor Walter, Václav Pritzl, Michal Pliska, Tomáš Báča, Vojtěch Spurný, Daniel Heřt and Martin Saska. On Onboard LiDAR-based Flying Object Detection. 2023. PDF BibTeX

    @misc{vrba2023fod,
    	title = "On Onboard {LiDAR}-based Flying Object Detection",
    	author = "Matouš Vrba and Viktor Walter and Václav Pritzl and Michal Pliska and Tomáš Báča and Vojtěch Spurný and Daniel Heřt and Martin Saska",
    	note = "preprint, arXiv 2303.05404",
    	year = 2023,
    	eprint = "2303.05404",
    	archiveprefix = "arXiv",
    	primaryclass = "cs.RO",
    	pdf = {https://arxiv.org/pdf/2303.05404" url = {http://arxiv.org/abs/2303.05404}
    }