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PhD student
Room:
KN:E-123

 

CV |  Google Scholar  |  |  |  ResearchGate | ORCID iD icon0000-0002-0887-9430
     
PhD topic   Robust UAV Localization in Perception-Degraded Environments
Education  
2019 - Ing. (=M.Sc.) Cybernetics and Robotics, FEE, Czech Technical University in Prague, supervisor M. Saska
  Diploma thesis: Design, localization and position control of a specialized UAV platform for documentation of historical monuments (Dean's price for astounding work)
     
Current projects   DOFEC (2020-now)
GACR-Swarms (2017-now)
Past projects  

DARPA Subterranean Challenge (2019-2022)
Co-lead of Dronument (2018-2022)

     
Research interests   Unmanned Aerial VehiclesMulti-robot systems, Perception-degraded laser-based SLAM
     
Awards  

M17+ 2022 evaluation: excellent international evaluation of our Dronument functional sample
DARPA Subterranean Challenge: 1st non-funded team in physical Urban campaign, 2nd overall in virtual Finals

Preprints  
    Journal publications  
    1. Pavel Petracek, Kostas Alexis and Martin Saska. RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation. IEEE Robotics and Automation Letters, pages 1–8, 2024. PDF, DOI BibTeX

      @article{petracek2024rms,
      	title = "{RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation}",
      	journal = "IEEE Robotics and Automation Letters",
      	author = "Petracek, Pavel and Alexis, Kostas and Saska, Martin",
      	year = 2024,
      	pages = "1--8",
      	pdf = "https://mrs.fel.cvut.cz/data/papers/petracek2024rms.pdf",
      	doi = "10.1109/LRA.2024.3389820"
      }
      
    2. Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petráček, Matěj Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L Williams and Luca Carlone. Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Transactions on Robotics 40():936-959, 2024. PDF, DOI BibTeX

      @article{ebadi2024slam,
      	author = "Ebadi, Kamak and Bernreiter, Lukas and Biggie, Harel and Catt, Gavin and Chang, Yun and Chatterjee, Arghya and Denniston, Christopher E. and Deschênes, Simon-Pierre and Harlow, Kyle and Khattak, Shehryar and Nogueira, Lucas and Palieri, Matteo and Petráček, Pavel and Petrlík, Matěj and Reinke, Andrzej and Krátký, Vít and Zhao, Shibo and Agha-mohammadi, Ali-akbar and Alexis, Kostas and Heckman, Christoffer and Khosoussi, Kasra and Kottege, Navinda and Morrell, Benjamin and Hutter, Marco and Pauling, Fred and Pomerleau, François and Saska, Martin and Scherer, Sebastian and Siegwart, Roland and Williams, Jason L. and Carlone, Luca",
      	journal = "IEEE Transactions on Robotics",
      	title = "Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge",
      	year = 2024,
      	volume = 40,
      	number = "",
      	pages = "936-959",
      	doi = "10.1109/TRO.2023.3323938",
      	pdf = "https://arxiv.org/pdf/2208.01787"
      }
      
    3. Pavel Petracek, Vit Kratky, Tomas Baca, Petrlik Matej and Martin Saska. New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments. IEEE Robotics and Automation Magazine ():2–19, February 2023. PDF, DOI BibTeX

      @article{petracek2023ram,
      	author = "Petracek, Pavel and Kratky, Vit and Baca, Tomas and Petrlik, Matej, and Saska, Martin",
      	journal = "IEEE Robotics and Automation Magazine",
      	title = "{New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments}",
      	year = 2023,
      	volume = "",
      	number = "",
      	pages = "2--19",
      	month = "February",
      	doi = "10.1109/MRA.2023.3244423",
      	pdf = "data/papers/petracek2023ram.pdf"
      }
      
    4. P Petráček, V Krátký and M Saska. Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments. IEEE Robotics and Automation Letters 5(2):2078–2085, April 2020. PDF, DOI BibTeX

      @article{petracek2020ral,
      	author = "P. {Petr\'{a}\v{c}ek} and V. {Kr\'{a}tk\'{y}} and M. {Saska}",
      	journal = "IEEE Robotics and Automation Letters",
      	title = "{Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments}",
      	year = 2020,
      	volume = 5,
      	number = 2,
      	pages = "2078--2085",
      	keywords = "Aerial systems: applications; Aerial systems: Perception and autonomy;Localization",
      	doi = "10.1109/LRA.2020.2969935",
      	issn = "2377--3774",
      	month = "April",
      	pdf = "data/papers/petracek2020ral.pdf"
      }
      
    5. Pavel Petracek, Vit Kratky, Matej Petrlik, Tomas Baca, Radim Kratochvil and Martin Saska. Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7596–7603, October 2021. PDF, DOI BibTeX

      @article{petracek2021caves,
      	author = "Petracek, Pavel and Kratky, Vit and Petrlik, Matej and Baca, Tomas and Kratochvil, Radim and Saska, Martin",
      	journal = "IEEE Robotics and Automation Letters",
      	title = "Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles",
      	year = 2021,
      	volume = 6,
      	number = 4,
      	pages = "7596--7603",
      	month = "October",
      	doi = "10.1109/LRA.2021.3098304",
      	pdf = "data/papers/ral2021petracek/petracek2021caves.pdf"
      }
      
    6. Pavel Petráček, Viktor Walter, Tomáš Báča and Martin Saska. Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization. Bioinspiration & Biomimetics 16(2):026009, December 2020. PDF, DOI BibTeX

      @article{petracek2020swarms,
      	author = "Pavel Petr{\'{a}}{\v{c}}ek and Viktor Walter and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
      	title = "{Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization}",
      	journal = "Bioinspiration {\&} Biomimetics",
      	year = 2020,
      	month = "dec",
      	publisher = "{IOP} Publishing",
      	volume = 16,
      	number = 2,
      	pages = 026009,
      	doi = "https://doi.org/10.1088/1748-3190/abc6b3",
      	pdf = "data/papers/BB20swarm.pdf"
      }
      
    7. 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"
      }
      
    8. Filip Novák, Viktor Walter, Pavel Petráček, Tomáš Báča and Martin Saska. Fast collective evasion in self-localized swarms of unmanned aerial vehicles. Bioinspiration & Biomimetics 16(6):066025, November 2021. URL, DOI BibTeX

      @article{novak2021predator,
      	author = "Filip Nov{\'{a}}k and Viktor Walter and Pavel Petr{\'{a}}{\v{c}}ek and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
      	title = "{Fast collective evasion in self-localized swarms of unmanned aerial vehicles}",
      	journal = "Bioinspiration {\&} Biomimetics",
      	year = 2021,
      	month = "nov",
      	publisher = "{IOP} Publishing",
      	volume = 16,
      	number = 6,
      	pages = 066025,
      	doi = "10.1088/1748-3190/ac3060",
      	url = "https://doi.org/10.1088/1748-3190/ac3060"
      }
      
    9. Vít Krátký, Pavel Petráček, Tomáš Báča and Martin Saska. An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments. Journal of Field Robotics 38(8):1036–1058, May 2021. URL PDF, DOI BibTeX

      @article{kratky2021exploration,
      	author = "Krátký, Vít and Petráček, Pavel and Báča, Tomáš and Saska, Martin",
      	title = "An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments",
      	journal = "Journal of Field Robotics",
      	year = 2021,
      	month = "May",
      	volume = 38,
      	number = 8,
      	pages = "1036--1058",
      	keywords = "aerial robotics, exploration, extreme environments, GPS-denied operation, planning",
      	doi = "https://doi.org/10.1002/rob.22021",
      	pdf = "data/papers/autonomous_uav_system_for_fast_exploration.pdf",
      	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.22021"
      }
      
    10. V Krátký, P Petráček, V Spurný and M Saska. Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 5(2):2302–2309, April 2020. PDF, DOI BibTeX

      @article{kratky2020ral,
      	author = "V. {Kr\'{a}tk\'{y}} and P. {Petr\'{a}\v{c}ek} and V. {Spurn\'{y}} and M. {Saska}",
      	journal = "IEEE Robotics and Automation Letters",
      	title = "{Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles}",
      	year = 2020,
      	volume = 5,
      	number = 2,
      	pages = "2302--2309",
      	doi = "10.1109/LRA.2020.2970646",
      	month = "April",
      	pdf = "data/papers/kratky2020ral.pdf"
      }
      
    11. 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 108:1–34, July 2023. URL PDF, DOI 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 = "July",
      	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",
      	volume = 108,
      	pages = "1--34",
      	doi = "10.1007/s10846-023-01879-2",
      	issue = 64,
      	url = "https://link.springer.com/article/10.1007/s10846-023-01879-2"
      }
      
    12. T Roucek, M Pecka, P Cizek, T Petricek, J Bayer, V Salansky, T Azayev, D Hert, M Petrlik, T Baca, V Spurny, V Kratky, P Petracek, D Baril, M Vaidis, V Kubelka, F Pomerleau, J Faigl, K Zimmermann, M Saska, T Svoboda and T Krajnik. System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Field Robotics 2:1779–1818, 2022. PDF BibTeX

      @article{roucek2022darpa,
      	author = "Roucek, T. and Pecka, M. and Cizek, P. and Petricek, T. and Bayer, J. and Salansky, V. and Azayev, T. and Hert, D. and Petrlik, M. and Baca, T. and Spurny, V. and Kratky, V. and Petracek, P. and Baril, D. and Vaidis, M. and Kubelka, V. and Pomerleau, F. and Faigl, J. and Zimmermann, K. and Saska, M. and Svoboda, T. and Krajnik, T.",
      	title = "System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge",
      	journal = "Field Robotics",
      	pages = "1779--1818",
      	type = "article",
      	volume = 2,
      	year = 2022,
      	pdf = "http://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_55.pdf"
      }
      
    13. Vít Krátký, Pavel Petráček, Tiago Nascimento, Michaela Čadilová, Milan Škobrtal, Pavel Stoudek and Martin Saska. Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle. ISPRS International Journal of Geo-Information 10(11):738/1–16, October 2021. PDF, DOI BibTeX

      @article{kratky2021documentation,
      	author = "Krátký, Vít and Petráček, Pavel and Nascimento, Tiago and Čadilová, Michaela and Škobrtal, Milan and Stoudek, Pavel and Saska, Martin",
      	title = "Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle",
      	journal = "ISPRS International Journal of Geo-Information",
      	volume = 10,
      	year = 2021,
      	month = "October",
      	number = 11,
      	pages = "738/1--16",
      	issn = "2220--9964",
      	pdf = "data/papers/kratky2021dronument.pdf",
      	doi = "10.3390/ijgi10110738"
      }
      
    14. Tiziano Manoni, Dario Albani, Jiri Horyna, Pavel Petracek, Martin Saska and Eliseo Ferrante. Adaptive Arbitration of Aerial Swarm Interactions through a Gaussian Kernel for Coherent Group Motion. Frontiers in Robotics and AI 9, 2022. PDF, DOI BibTeX

      @article{manoni2022adaptiveswarms,
      	author = "Manoni, Tiziano and Albani, Dario and Horyna, Jiri and Petracek, Pavel and Saska, Martin and Ferrante, Eliseo",
      	title = "{Adaptive Arbitration of Aerial Swarm Interactions through a Gaussian Kernel for Coherent Group Motion}",
      	journal = "Frontiers in Robotics and AI",
      	volume = 9,
      	year = 2022,
      	pdf = "https://www.frontiersin.org/articles/10.3389/frobt.2022.1006786/pdf",
      	issn = "2296--9144",
      	doi = "10.3389/frobt.2022.1006786"
      }
      
    Conference publications  
    1. 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"
      }
      
    2. A Ahmad, V Walter, P Petracek, M Petrlik, T Baca, D Zaitlik and M Saska. Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density. In 2021 IEEE International Conference on Robotics and Automation (ICRA). June 2021, 570–576. PDF, DOI BibTeX

      @inproceedings{afzal2021Icra,
      	author = "A. {Ahmad} and V. {Walter} and P. {Petracek} and M. {Petrlik} and T. {Baca} and D. {Zaitlik} and M. {Saska}",
      	booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
      	title = "{Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density}",
      	month = "June",
      	year = 2021,
      	pages = "570--576",
      	organization = "IEEE",
      	doi = "10.1109/ICRA48506.2021.9561284",
      	pdf = "data/papers/afzal2021Icra.pdf"
      }
      
    3. Thulio Amorim, Tiago Nascimento, Pavel Petracek, Giulia Masi, Eliseo Ferrante and Martin Saska. Self-Organized UAV Flocking Based on Proximal Control. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS) (). July 2021, 1374–1382. PDF, DOI BibTeX

      @inproceedings{amorim2021icuas,
      	author = "Amorim, Thulio and Nascimento, Tiago and Petracek, Pavel and de Masi, Giulia and Ferrante, Eliseo and Saska, Martin",
      	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
      	title = "Self-Organized UAV Flocking Based on Proximal Control",
      	year = 2021,
      	month = "July",
      	volume = "",
      	number = "",
      	pages = "1374--1382",
      	doi = "10.1109/ICUAS51884.2021.9476847",
      	pdf = "https://ieeexplore.ieee.org/document/9476847"
      }
      
    Other activities  
    1. P Petracek, V Kratky, M Petrlik and M Saska. Cooperative UAV Autonomy of Dronument: New Era in Cultural Heritage Preservation. In IEEE IROS (Workshop on Integrated Perception, Planning, and Control for Physically and Contextually-Aware Robot Autonomy). 2023. PDF BibTeX

      @inproceedings{iros2023petracek_workshop_dronument,
      	author = "P. Petracek and V. Kratky and M. Petrlik and M. Saska",
      	title = "{Cooperative UAV Autonomy of Dronument: New Era in Cultural Heritage Preservation}",
      	year = 2023,
      	booktitle = "{IEEE IROS (Workshop on Integrated Perception, Planning, and Control for Physically and Contextually-Aware Robot Autonomy)}",
      	pdf = "data/papers/2023_iros_workshop_dronument_petracek.pdf"
      }
      
    2. P Petracek, N Khedekar, M Nissov, K Alexis and M Saska. Importance Sampling: Degradation-Aware Alternative to Voxelization in Robot Pose Estimation. In IEEE IROS (Workshop on Robotic Perception and Mapping: Frontier Vision & Learning Techniques and Workshop on Integrated Perception, Planning, and Control for Physically and Contextually-Aware Robot Autonomy). 2023. PDF BibTeX

      @inproceedings{iros2023petracek_workshop_sampling,
      	author = "P. Petracek and N. Khedekar and M. Nissov and K. Alexis and M. Saska",
      	title = "{Importance Sampling: Degradation-Aware Alternative to Voxelization in Robot Pose Estimation}",
      	year = 2023,
      	booktitle = "IEEE IROS (Workshop on Robotic Perception and Mapping: Frontier Vision \& Learning Techniques and Workshop on Integrated Perception, Planning, and Control for Physically and Contextually-Aware Robot Autonomy)",
      	pdf = "data/papers/2023_iros_workshop_sampling_petracek.pdf"
      }
      
    3. P Petráček and M Saska. Decentralized Aerial Swarms Using Vision-Based Mutual Localization. In IEEE IROS (Second Workshop on Multi-robot Perception-Driven Control and Planning). 2018. BibTeX

      @inproceedings{iros2018petracek,
      	author = "P. {Petr\'{a}\v{c}ek} and M. {Saska}",
      	title = "{Decentralized Aerial Swarms Using Vision-Based Mutual Localization}",
      	year = 2018,
      	booktitle = "{IEEE IROS (Second Workshop on Multi-robot Perception-Driven Control and Planning)}"
      }
      
    4. Taťána Příhodová, Giuseppe Silano, Afzal Ahmad, Vít Krátký, Tomáš Báča, Pavel Petráček, Věra Sasková, Jan Bednář and Martin Saska. 2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education]. IEEE Robotics & Automation Magazine 30(1):104–106, March 2023. URL PDF, DOI BibTeX

      @article{2023_RAM_SummerSchool,
      	author = "Příhodová, Ta\v{t}ána and Silano, Giuseppe and Ahmad, Afzal and Krátký, Vít and Báča, Tomáš and Petráček, Pavel and Sasková, Věra and Bednář, Jan and Saska, Martin",
      	journal = "IEEE Robotics {\&} Automation Magazine",
      	title = "2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education]",
      	year = 2023,
      	volume = 30,
      	number = 1,
      	pages = "104--106",
      	month = "March",
      	doi = "10.1109/MRA.2023.3238213",
      	pdf = "data/papers/2023_RAM_SummerSchool.pdf",
      	url = "https://ieeexplore.ieee.org/document/10084390"
      }
      
    5. Milan Škobrtal, Aneta Škobrtal Zlámalová, Vít Krátký and Petráček Pavel. Průzkum malby Zvěstování Panny Marie v poutním chrámu ve Staré Vodě u Libavé pomocí bezpilotní helikoptéry. Památky 1(4):16–33, 2022. BibTeX

      @article{skobrtal2022pamatky,
      	author = "Škobrtal, Milan and Škobrtal Zlámalová, Aneta and Krátký, Vít and Petráček Pavel",
      	journal = "Památky",
      	title = "Průzkum malby Zvěstování Panny Marie v poutním chrámu ve Staré Vodě u Libavé pomocí bezpilotní helikoptéry",
      	year = 2022,
      	volume = 1,
      	number = 4,
      	pages = "16--33"
      }
      
         
    Supervised MSc. theses  
    Supervised Bc. theses