Pavel Pochobradský, Ondřej Procházka, Robert Pěnička, Vojtěch Vonásek and Martin Saska. Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance. IEEE Robotics and Automation Letters ():1-8, 2026. PDF video, DOI BibTeX

@article{pochobradsky2026geometric,
	author = "Pochobradský, Pavel and Procházka, Ondřej and Pěnička, Robert and Vonásek, Vojtěch and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance",
	year = 2026,
	volume = "",
	number = "",
	pages = "1-8",
	keywords = "Trajectory;Collision avoidance;Autonomous aerial vehicles;Trajectory tracking;Robot sensing systems;Costs;Cost function;Predictive models;Geometric modeling;Trajectory optimization;Collision Avoidance;Agile Flight;MPPI;Control",
	doi = "10.1109/LRA.2026.3668528",
	pdf = "data/papers/pochobradsky2026geometric.pdf",
	video = "www.youtube.com/watch?v=HEo4MQNX6xc"
}

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. PDF video code, DOI BibTeX

@inproceedings{gupta2025lolnmpc,
	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",
	pdf = "https://arxiv.org/pdf/2506.02169.pdf",
	video = "https://www.youtube.com/watch?v=jjcKYbYfsqg",
	code = "https://github.com/ctu-mrs/lol_nmpc"
}

Parakh M Gupta, Ondřej Procházka, Tiago Nascimento and Martin Saska. CurviTrack: Curvilinear Trajectory Tracking for High-Speed Chase of a USV. IEEE Robotics and Automation Letters 10(4):3932-3939, 2025. PDF, DOI BibTeX

@article{Parakh_2025,
	author = "Gupta, Parakh M. and Procházka, Ondřej and Nascimento, Tiago and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "CurviTrack: Curvilinear Trajectory Tracking for High-Speed Chase of a USV",
	year = 2025,
	volume = 10,
	number = 4,
	pages = "3932-3939",
	doi = "10.1109/LRA.2025.3546079",
	keywords = "Autonomous aerial vehicles;Underactuated surface vessels;Predictive models;Trajectory;Visualization;Turning;Kalman filters;Attitude control;Trajectory tracking;Training;Aerial Systems: Mechanics and Control;UAV;MPC;Optimization and Optimal Control;Multi-Robot Systems;Dynamics",
	pdf = "data/papers/ral_curvitrack_2025.pdf"
}

Filip Novák, Tomáš Báča, Ondřej Procházka and Martin Saska. State estimation of marine vessels affected by waves by unmanned aerial vehicles. Ocean Engineering 323:120606, 2025. URL PDF, DOI BibTeX

@article{novak2025usvStateEstimation,
	title = "State estimation of marine vessels affected by waves by unmanned aerial vehicles",
	author = "Filip Nov{\'{a}}k and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Ond{\v{r}}ej Proch{\'a}zka and Martin Saska",
	journal = "Ocean Engineering",
	volume = 323,
	pages = 120606,
	year = 2025,
	publisher = "Elsevier",
	issn = "0029-8018",
	doi = "10.1016/j.oceaneng.2025.120606",
	pdf = "data/papers/2025_Ocean_Engineering_Novak.pdf",
	url = "https://mrs.fel.cvut.cz/papers/usv-state-estimation"
}

Ondřej Procházka, Filip Novák, Tomáš Báča, Parakh M Gupta, Robert Pěnička and Martin Saska. Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat. Ocean Engineering 313:119164, 2024. PDF BibTeX

@article{prochazka2024model,
	title = "Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat",
	author = "Proch{\'a}zka, Ond{\v{r}}ej and Nov{\'a}k, Filip and B{\'a}{\v{c}}a, Tom{\'a}{\v{s}} and Gupta, Parakh M and P{\v{e}}ni{\v{c}}ka, Robert and Saska, Martin",
	journal = "Ocean Engineering",
	volume = 313,
	pages = 119164,
	year = 2024,
	publisher = "Elsevier",
	pdf = "data/papers/2024_Prochazka.pdf"
}

Filip Novák, Tomáš Báča, Ondřej Procházka and Martin Saska. Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO. 2024, 545-554. URL PDF, DOI BibTeX

@inproceedings{novakTowardsUavUsvCollaboration2024,
	title = "Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves",
	author = "Filip Nov{\'{a}}k and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Ond{\v{r}}ej Proch{\'{a}}zka and Martin Saska",
	year = 2024,
	booktitle = "Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO",
	pages = "545-554",
	publisher = "SciTePress",
	organization = "INSTICC",
	doi = "10.5220/0012910000003822",
	isbn = "978-989-758-717-7",
	issn = "2184-2809",
	pdf = "data/papers/icinco2024novak.pdf",
	url = "https://mrs.fel.cvut.cz/papers/towards-uav-usv-collaboration"
}