T Musil, Matej Petrlik and Martin Saska. SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning. IEEE Robotics and Automation Letters 7(4):11007-11014, 2022. PDF code, DOI BibTeX

@article{musil2022spheremap,
	author = "T. Musil and Petrlik, Matej and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "{SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning}",
	year = 2022,
	volume = 7,
	number = 4,
	pages = "11007-11014",
	pdf = "data/papers/musil2022ral.pdf",
	code = "https://github.com/ctu-mrs/spheremap",
	doi = "10.1109/LRA.2022.3195194"
}

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"
}

Michal Werner, David Čapek, Tomáš Musil, Ondřej Franek, Tomáš Báča and Martin Saska. Kilometer-Scale GNSS-Denied UAV Navigation via Heightmap Gradients: A Winning System from the SPRIN-D Challenge. In 2026 IEEE International Conference on Robotics & Automation (ICRA). 2026, . PDF, DOI BibTeX

@inproceedings{wernerGNSSDenied2026,
	author = "Werner, Michal and \v{C}apek, David and Musil, Tom\'{a}\v{s} and Franek, Ond\v{r}ej and B\'{a}\v{c}a, Tom\'{a}\v{s} and Saska, Martin",
	booktitle = "2026 IEEE International Conference on Robotics & Automation (ICRA)",
	title = "Kilometer-Scale GNSS-Denied UAV Navigation via Heightmap Gradients: A Winning System from the SPRIN-D Challenge",
	year = 2026,
	pages = "",
	doi = "",
	pdf = "data/papers/2026_ICRA_Werner.pdf"
}

Tomáš Musil, Matěj Petrlík and Martin Saska. MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration Through Perception-Coupled Mapping and Planning. IEEE Robotics and Automation Letters 11(7):8391-8398, 2026. PDF video code, DOI BibTeX

@article{musil2026ral,
	author = "Musil, Tomáš and Petrlík, Matěj and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration Through Perception-Coupled Mapping and Planning",
	year = 2026,
	volume = 11,
	number = 7,
	pages = "8391-8398",
	keywords = "Autonomous aerial vehicles;Simultaneous localization and mapping;Distance measurement;Cameras;Depth measurement;Planning;Visualization;Robots;Image sensors;Modeling;Vision-based navigation;mapping;aerial systems: perception and autonomy",
	pdf = "data/papers/musil2026ral.pdf",
	code = "https://github.com/ctu-mrs/monospheres",
	video = "https://youtu.be/hxYtRvwQrKc",
	doi = "10.1109/LRA.2026.3693026"
}