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Phone:
+420-22435-7350
Email:
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Position:
Post-doc researcher
Room:
KN:E-121

 

GS profile:   Robert Pěnička at Google Scholar
ORCID:   ORCID iD iconorcid.org/0000-0001-8549-4932
Current projects:  

PI of GACR Junior Start project TOPFLIGHT: Trajectory and Mission Planning for Agile Flight of Aerial Robots in Cluttered Environments.

Technical lead of AERIAL-CORE project -  Horizon 2020 grant on development of aerial cognitive robots for applications to inspection of large linear infrastructures.

Colaborator of GACR project -  Sampling-based planning of actions and motions using approximate solutions.

Education:  

2020 - Ph.D., in doctorate program Artificial Intelligence and Biocybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague,  thesis: "Data Collection Planning For Aerial Vehicles"

2016 Ing. (=M.Sc.) in Cybernetics and robotics

Research stays:  

2020 - 2022 postdoctoral researcher in Robotics and Perception Group under the supervision of prof. Davide Scaramuzza, University of Zurich, Switzerland.

09/2018 research stay in GRASP Laboratory at University of Pennsylvania, USA.

12/2016 research stay in RIS at LAAS-CRNS Toulouse, France.

12/2016 research stay in IAR/IPR at KIT Karlsruhe, Germany.

2/2014 - 9/2014 research fellow internship in Florida Institute for Human and Machine Cognition, Florida, USA.

9/2013 research stay in Machine Learning & Robotics Lab, University Stuttgart, Germany.

Awards:  

M17+ 2022 evaluation - Excellent evaluation of my paper "Physical orienteering problem for unmanned aerial vehicle data collection planning in environments with obstacles".

M17+ 2021 evaluation - Excellent international level evaluation of my paper "Dubins Orienteering Problem".

Joseph Fourier Prize 2021 - 2nd place for the best doctoral thesis in computer sciences in Czech Republic.

Antonin Svoboda Award 2020 - for the best doctoral thesis.

Siemens Award 2020 - 2nd place for the best Industry 4.0 doctoral thesis.

Dean’s prize 2020 - for prestigious doctoral thesis at CTU FEE.

MBZIRC 2020 - 1st in Grand challenge, 1st and 2nd in individual challanges.

ETFA 2019 - Best Paper Award.

Travelling Salesman Challenge 2.0 - Winner of TSP Challenge organized by kiwi.com.

MBZIRC 2017 - 3rd in Grand challenge, 1st and 2nd in challenges.

Teaching:  

Multi-robot Aerial Systems (Multirobotické Letecké Systémy)

Autonomous robotics (Autonomní robotika)

Solving Problems and other Games (Řešení problémů a hry)

Supervised Theses:  

M.Sc.:
Novosad Matej (2023) - Path Planning with Different Homotopy Classes in Environment with Obstacles
Teissing Kryštof (2023) - Replanning of Collision-Free Trajectories for Unmanned Aerial Vehicle
Dubeň Alexander (2018) - Motion planning with Hermite splines for Unmanned Aerial Vehicle in information gathering task [pdf]
Michal Němec (2020) - Planning for team of robots in cooperative wall building task [pdf]
Bc.:
Knobloch Vít (2023) - Learning High-Speed Flight of Unmanned Aerial Vehicle in Cluttered Environments
Poncar Karel (2023) - Reinforcement Learning for Swarm Control of Unmanned Aerial Vehicles
Hřebec Jan (2023) - Nonlinear Predictive Control of Unmanned Aerial Vehicle in Environments with Obstacles
Jaroslav Janoš (2020) - Inspection Planning for Firefighting with Unmanned Aerial Vehicle [pdf]
Zahrádka David (2018) - Motion planning for team of Unmanned Aerial Vehicles with flight time constraint and Dubins vehicle model [pdf]

Research Interest:   Motion planning, Multi-goal path planning, Multi-robot data collection and coverage planning, Minimum-time trajectory planning and control, Reinforcement learning
Publications:  
  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. Anibal Ollero, Alejandro Suarez, Juan Manuel Marredo, Giovanni Cioffi, Robert Pìniècka, Goran Vasiljevic, Viet Duong Hoang, Michele Marolla, Jiaxu Xing, Martin Saska, Stjpan Bogdan, Emad Ebeid, Fabio Ruggiero, Ramiro Martínez-de J Dios, Davide Scaramuzza, Vincenzo Lippiello and Antidio Viguria. Application of Intelligent Aerial Robots to the Inspection and Maintenance of Electrical Power Lines. In Konstantinos Loupos (ed.). Robotics and Automation Solutions for Inspection and Maintenance in Critical Infrastructures. now publishers inc., 2024, pages 178-201. BibTeX

    @incollection{Ollero2024BookChapter,
    	author = "Anibal {Ollero} and Alejandro {Suarez} and Juan Manuel {Marredo} and Giovanni {Cioffi} and Robert {Pìniècka} and Goran {Vasiljevic} and Viet Duong {Hoang} and Michele {Marolla} and Jiaxu {Xing} and Martin {Saska} and Stjpan {Bogdan} and Emad {Ebeid} and Fabio {Ruggiero} and J. Ramiro {Martínez-de Dios} and Davide {Scaramuzza} and Vincenzo {Lippiello} and Antidio {Viguria}",
    	title = "Application of Intelligent Aerial Robots to the Inspection and Maintenance of Electrical Power Lines",
    	editor = "Konstantinos Loupos",
    	booktitle = "Robotics and Automation Solutions for Inspection and Maintenance in Critical Infrastructures",
    	publisher = "now publishers inc.",
    	year = 2024,
    	pages = "178-201",
    	chapter = 8
    }
    
  3. Tomas Baca, Robert Penicka, Petr Stepan, Matej Petrlik, Vojtech Spurny, Daniel Hert and Martin Saska. Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition. Robotics and Autonomous Systems 167:104482, September 2023. URL PDF BibTeX

    @article{baca2023autonomous,
    	author = "Baca, Tomas and Penicka, Robert and Stepan, Petr and Petrlik, Matej and Spurny, Vojtech and Hert, Daniel and Saska, Martin",
    	journal = "{Robotics and Autonomous Systems}",
    	month = 09,
    	pages = 104482,
    	title = "{Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition}",
    	type = "article",
    	url = "https://www.sciencedirect.com/science/article/pii/S0921889023001215",
    	volume = 167,
    	year = 2023,
    	pdf = "https://arxiv.org/pdf/2012.05946.pdf"
    }
    
  4. Giuseppe Silano, Vit Kratky, Matous Vrba, Christos Papaioannidis, Ioannis Mademlis, Robert Penicka, Ioannis Pitas and Martin Saska. Human-Swarm Interaction with a Gesture-Controlled Aerial Robot Formation for Safety Monitoring Applications. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), , Contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction", Detroit, Michigan, USA. October 2023, 1-5. PDF BibTeX

    @inproceedings{Silano2023IROS_WS-I,
    	author = "{Silano}, Giuseppe and {Kratky}, Vit and {Vrba}, Matous and {Papaioannidis}, Christos and {Mademlis}, Ioannis and {Penicka}, Robert and {Pitas}, Ioannis and {Saska}, Martin",
    	booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), , Contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction", Detroit, Michigan, USA},
    	title = "{Human-Swarm Interaction with a Gesture-Controlled Aerial Robot Formation for Safety Monitoring Applications}",
    	year = 2023,
    	month = "October",
    	pages = "1-5",
    	note = {Contribution accepted for discussion at the workshop session: "Human Multi-Robot Interaction", Detroit, Michigan, USA},
    	pdf = "data/papers/iros2023_hsi_ws.pdf"
    }
    
  5. 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"
    }
    
  6. 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, 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"
    }
    
  7. Yunlong Song, Kexin Shi, Robert Penicka and Davide Scaramuzza. Learning Perception-Aware Agile Flight in Cluttered Environments. 2023. PDF BibTeX

    @misc{song2023learning,
    	title = "Learning Perception-Aware Agile Flight in Cluttered Environments",
    	author = "Yunlong Song and Kexin Shi and Robert Penicka and Davide Scaramuzza",
    	year = 2023,
    	eprint = "2210.01841",
    	archiveprefix = "arXiv",
    	primaryclass = "cs.RO",
    	pdf = "https://arxiv.org/pdf/2210.01841.pdf"
    }
    
  8. Basel Elkhapery, Robert Pěnička, Michal Němec and Mohsin Siddiqui. Metaheuristic planner for cooperative multi-agent wall construction with UAVs. Automation in Construction 152:104908, 2023. URL PDF, DOI BibTeX

    @article{Elkhapery23_AIC_UAVWallBuilding,
    	title = "Metaheuristic planner for cooperative multi-agent wall construction with UAVs",
    	journal = "Automation in Construction",
    	volume = 152,
    	pages = 104908,
    	year = 2023,
    	issn = "0926-5805",
    	doi = "https://doi.org/10.1016/j.autcon.2023.104908",
    	url = "https://www.sciencedirect.com/science/article/pii/S0926580523001681",
    	author = "Basel Elkhapery and Robert Pěnička and Michal Němec and Mohsin Siddiqui",
    	pdf = "data/papers/AIC23_Elkhapery.pdf"
    }
    
  9. Drew Hanover, Antonio Loquercio, Leonard Bauersfeld, Angel Romero, Robert Penicka, Yunlong Song, Giovanni Cioffi, Elia Kaufmann and Davide Scaramuzza. Autonomous Drone Racing: A Survey. 2023. PDF BibTeX

    @misc{hanover2023autonomous,
    	title = "Autonomous Drone Racing: A Survey",
    	author = "Drew Hanover and Antonio Loquercio and Leonard Bauersfeld and Angel Romero and Robert Penicka and Yunlong Song and Giovanni Cioffi and Elia Kaufmann and Davide Scaramuzza",
    	year = 2023,
    	eprint = "2301.01755",
    	archiveprefix = "arXiv",
    	primaryclass = "cs.RO",
    	pdf = "https://arxiv.org/pdf/2301.01755.pdf"
    }
    
  10. Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio and Davide Scaramuzza. Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight. Science Robotics 7(67):eabl6259, 2022. URL PDF, DOI BibTeX

    @article{Foehn22Agilicious,
    	author = "Philipp Foehn and Elia Kaufmann and Angel Romero and Robert Penicka and Sihao Sun and Leonard Bauersfeld and Thomas Laengle and Giovanni Cioffi and Yunlong Song and Antonio Loquercio and Davide Scaramuzza",
    	title = "Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight",
    	journal = "Science Robotics",
    	volume = 7,
    	number = 67,
    	pages = "eabl6259",
    	year = 2022,
    	doi = "10.1126/scirobotics.abl6259",
    	url = "https://agilicious.dev",
    	pdf = "data/papers/ScienceRobotics22_Foehn.pdf",
    	eprint = "https://www.science.org/doi/pdf/10.1126/scirobotics.abl6259",
    	note = "non-MRS"
    }
    
  11. Robert Penicka, Yunlong Song, Elia Kaufmann and Davide Scaramuzza. Learning Minimum-Time Flight in Cluttered Environments. IEEE Robotics and Automation Letters 7(3):7209-7216, 2022. PDF, DOI BibTeX

    @article{Penicka22RLplanning,
    	author = "Penicka, Robert and Song, Yunlong and Kaufmann, Elia and Scaramuzza, Davide",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Learning Minimum-Time Flight in Cluttered Environments",
    	year = 2022,
    	volume = 7,
    	number = 3,
    	pages = "7209-7216",
    	pdf = "data/papers/RAL_IROS22_Penicka.pdf",
    	doi = "10.1109/LRA.2022.3181755",
    	note = "non-MRS"
    }
    
  12. Angel Romero, Robert Penicka and Davide Scaramuzza. Time-Optimal Online Replanning for Agile Quadrotor Flight. IEEE Robotics and Automation Letters 7(3):7730-7737, 2022. PDF, DOI BibTeX

    @article{Romero22MPCCReplanning,
    	author = "Romero, Angel and Penicka, Robert and Scaramuzza, Davide",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Time-Optimal Online Replanning for Agile Quadrotor Flight",
    	year = 2022,
    	volume = 7,
    	number = 3,
    	pages = "7730-7737",
    	pdf = "data/papers/RAL22_Replanning_Romero.pdf",
    	doi = "10.1109/LRA.2022.3185772",
    	note = "non-MRS"
    }
    
  13. Robert Penicka and Davide Scaramuzza. Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments. IEEE Robotics and Automation Letters 7(2):5719-5726, 2022. PDF, DOI BibTeX

    @article{Penicka22UAVplanning,
    	author = "Penicka, Robert and Scaramuzza, Davide",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments",
    	year = 2022,
    	volume = 7,
    	number = 2,
    	pages = "5719-5726",
    	doi = "10.1109/LRA.2022.3154013",
    	pdf = "data/papers/RAL22_Penicka.pdf",
    	note = "non-MRS"
    }
    
  14. 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"
    }
    
  15. 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"
    }
    
  16. J Janos, V Vonasek and R Penicka. Multi-goal path planning using multiple random trees. IEEE Robotics and Automation Letters ():4201-4208, April 2021. URL arXiv, DOI BibTeX

    @article{janos2021multigoal,
    	author = "J. {Janos} and V. {Vonasek} and R. {Penicka}",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Multi-goal path planning using multiple random trees",
    	year = 2021,
    	month = "April",
    	volume = "",
    	number = "",
    	pages = "4201-4208",
    	doi = "10.1109/LRA.2021.3068679",
    	issn = "2377-3766",
    	url = "https://ieeexplore.ieee.org/document/9385932",
    	arxiv = "http://arxiv.org/abs/2106.03407"
    }
    
  17. V Vonásek, R Pěnička and B Kozlíková. Searching Multiple Approximate Solutions in Configuration Space to Guide Sampling-Based Motion Planning. Journal of Intelligent & Robotic Systems 100:1547-1543, 2020. DOI BibTeX

    @article{vonasek2020searching,
    	author = "Von{\'a}sek, V. and R. P\v{e}ni\v{c}ka and Kozl{\'i}kov{\'a}, B.",
    	title = "Searching Multiple Approximate Solutions in Configuration Space to Guide Sampling-Based Motion Planning",
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	pages = "1547-1543",
    	volume = 100,
    	issue = 3,
    	year = 2020,
    	doi = "https://doi.org/10.1007/s10846-020-01247-4"
    }
    
  18. Giuseppe Silano, Tomas Baca, Robert Penicka, Davide Liuzza and Martin Saska. Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications. IEEE Robotics and Automation Letters 6(2):4169–4176, April 2021. PDF, DOI BibTeX

    @article{Silano2021RAL,
    	author = "{Silano}, Giuseppe and {Baca}, Tomas and {Penicka}, Robert and {Liuzza}, Davide and {Saska}, Martin",
    	title = "{Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications}",
    	journal = "IEEE Robotics and Automation Letters",
    	year = 2021,
    	pages = "4169--4176",
    	volume = 6,
    	number = 2,
    	month = "April",
    	doi = "10.1109/LRA.2021.3068114",
    	pdf = "data/papers/Silano2021RAL.pdf"
    }
    
  19. Robert Pěnička, Jan Faigl, Martin Saska and Petr Váňa. Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle. Autonomous Robots 43(8):1937–1956, December 2019. URL PDF, DOI BibTeX

    @article{penicka_auro_2019_vns_dopn,
    	author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska and Petr V{\'a}{\v{n}}a",
    	title = "Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle",
    	journal = "Autonomous Robots",
    	year = 2019,
    	month = "Dec",
    	day = 01,
    	volume = 43,
    	number = 8,
    	pages = "1937--1956",
    	issn = "1573-7527",
    	doi = "10.1007/s10514-019-09844-5",
    	url = "https://doi.org/10.1007/s10514-019-09844-5",
    	pdf = "data/papers/penicka_auro_2019_vns_dopn.pdf"
    }
    
  20. Robert Pěnička, Jan Faigl and Martin Saska. Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles. IEEE Robotics and Automation Letters 4(3):3005-3012, July 2019. PDF, DOI BibTeX

    @article{penicka_ral_pop_19,
    	author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles",
    	year = 2019,
    	volume = 4,
    	number = 3,
    	pages = "3005-3012",
    	keywords = "Planning;Robots;Optimization;Path planning;Routing;Data collection;Unmanned aerial vehicles;Motion and Path Planning;Aerial Systems: Applications",
    	doi = "10.1109/LRA.2019.2923949",
    	issn = "2377-3766",
    	month = "July",
    	pdf = "http://mrs.felk.cvut.cz/data/papers/penicka_ral_2019_vns_prm_pop.pdf"
    }
    
  21. V Vonásek and R Pěnička. Space-filling forest for multi-goal path planning. In 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). 2019, 1587-1590. PDF, DOI BibTeX

    @inproceedings{vonasek_etfa19_SFF_multigoal,
    	author = "V. {Vonásek} and R. {Pěnička}",
    	booktitle = "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	title = "Space-filling forest for multi-goal path planning",
    	year = 2019,
    	pages = "1587-1590",
    	keywords = "Vegetation;Path planning;Planning;Robots;Task analysis;Forestry;Two dimensional displays",
    	doi = "10.1109/ETFA.2019.8869521",
    	month = "Sep.",
    	pdf = "data/papers/vonasek-etfa-2019-multigoal-sff.pdf"
    }
    
  22. V Vonásek and R Pěnička. Path planning of 3D solid objects using approximate solutions. In 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). 2019, 593-600. PDF, DOI BibTeX

    @inproceedings{vonasek_etfa19_3Dplanning,
    	author = "V. {Vonásek} and R. {Pěnička}",
    	booktitle = "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	title = "Path planning of 3D solid objects using approximate solutions",
    	year = 2019,
    	pages = "593-600",
    	keywords = "Robots;Geometry;Collision avoidance;Planning;Three-dimensional displays;Solids;Path planning",
    	doi = "10.1109/ETFA.2019.8869344",
    	month = "Sep.",
    	pdf = "data/papers/vonasek-etfa-2019-rrt-iis-peeling.pdf"
    }
    
  23. V Vonásek and R Pěnička. Computation of Approximate Solutions for Guided Sampling-Based Motion Planning of 3D Objects. In 2019 12th International Workshop on Robot Motion and Control (RoMoCo). July 2019, 231-238. PDF, DOI BibTeX

    @inproceedings{vonasek_romoco19_app_guided_sampling,
    	author = "V. {Vonásek} and R. {Pěnička}",
    	booktitle = "2019 12th International Workshop on Robot Motion and Control (RoMoCo)",
    	title = "Computation of Approximate Solutions for Guided Sampling-Based Motion Planning of 3D Objects",
    	year = 2019,
    	pages = "231-238",
    	keywords = "collision avoidance;graph theory;mobile robots;path planning;sampling methods;search problems;collision-free samples;narrow passage problem;approximate solution;guided sampling-based motion planning;3D solid objects;graph-search methods;6D configuration space;iterative guiding process;Planning;Surface treatment;Collision avoidance;Three-dimensional displays;Legged locomotion;Solids",
    	doi = "10.1109/RoMoCo.2019.8787344",
    	month = "July",
    	pdf = "data/papers/vonasek-romoco-2019-rrt-iis.pdf"
    }
    
  24. Robert Pěnička, Jan Faigl and Martin Saska. Variable Neighborhood Search for the Set Orienteering Problem and its application to other Orienteering Problem variants. European Journal of Operational Research 276(3):816 - 825, 2019. URL PDF, DOI BibTeX

    @article{penicka_ejor_2019_vns_sop,
    	author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska",
    	title = "Variable Neighborhood Search for the Set Orienteering Problem and its application to other Orienteering Problem variants",
    	journal = "European Journal of Operational Research",
    	volume = 276,
    	number = 3,
    	pages = "816 - 825",
    	year = 2019,
    	issn = "0377-2217",
    	doi = "10.1016/j.ejor.2019.01.047",
    	url = "http://www.sciencedirect.com/science/article/pii/S0377221719300827",
    	pdf = "data/papers/penicka_ejor_2019_vns_sop.pdf"
    }
    
  25. Jan Faigl, Petr Váňa, Robert Pěnička and Martin Saska. Unsupervised learning-based flexible framework for surveillance planning with aerial vehicles. Journal of Field Robotics 36(1):270-301, 2019. URL PDF, DOI BibTeX

    @article{mbzirc_som_surveillance,
    	author = "Faigl, Jan and Váňa, Petr and Pěnička, Robert and Saska, Martin",
    	title = "Unsupervised learning-based flexible framework for surveillance planning with aerial vehicles",
    	journal = "Journal of Field Robotics",
    	volume = 36,
    	number = 1,
    	pages = "270-301",
    	year = 2019,
    	doi = "10.1002/rob.21823",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21823",
    	pdf = "data/papers/faigl2018jfr.pdf"
    }
    
  26. Tomas Baca, Petr Stepan, Vojtech Spurny, Daniel Hert, Robert Penicka, Martin Saska, Justin Thomas, Giuseppe Loianno and Vijay Kumar. Autonomous landing on a moving vehicle with an unmanned aerial vehicle. Journal of Field Robotics 36(5):874-891, 2019. URL PDF, DOI BibTeX

    @article{baca2019jfr,
    	author = "Baca, Tomas and Stepan, Petr and Spurny, Vojtech and Hert, Daniel and Penicka, Robert and Saska, Martin and Thomas, Justin and Loianno, Giuseppe and Kumar, Vijay",
    	title = "Autonomous landing on a moving vehicle with an unmanned aerial vehicle",
    	journal = "Journal of Field Robotics",
    	volume = 36,
    	number = 5,
    	pages = "874-891",
    	keywords = "aerial robotics, control, planning, position estimation",
    	doi = "10.1002/rob.21858",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21858",
    	year = 2019,
    	pdf = "data/papers/jfr_2019_landing.pdf"
    }
    
  27. V Spurný, T Báča, M Saska, R Pěnička, T Krajník, J Thomas, D Thakur, G Loianno and V Kumar. Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles. Journal of Field Robotics 36(1):125-148, 2019. URL PDF, DOI BibTeX

    @article{spurny_jfr19,
    	author = "V. Spurn\'{y} and T. B\'{a}\v{c}a and M. Saska and R. P\v{e}ni\v{c}ka and T. Krajn\'{i}k and J. Thomas and D. Thakur and G. Loianno and V. Kumar",
    	title = "Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles",
    	journal = "Journal of Field Robotics",
    	volume = 36,
    	number = 1,
    	pages = "125-148",
    	keywords = "aerial robotics, cooperative robots, mobile manipulation, planning",
    	doi = "10.1002/rob.21816",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21816",
    	year = 2019,
    	pdf = "data/papers/spurny2018jfr.pdf"
    }
    
  28. G Loianno, V Spurny, T Baca, J Thomas, D Thakur, D Hert, R Penicka, T Krajnik, A Zhou, A Cho, M Saska and V Kumar. Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments. IEEE Robotics and Automation Letters 3:1576–1583, 2018. URL PDF BibTeX

    @article{MBZIRC_magnetic_grasping,
    	title = "Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments",
    	author = "G. Loianno and V. Spurny and T. Baca and J. Thomas and D. Thakur and D. Hert and R. Penicka and T. Krajnik and A. Zhou and A. Cho and M. Saska and V. Kumar",
    	journal = "IEEE Robotics and Automation Letters",
    	volume = 3,
    	issue = 3,
    	pages = "1576--1583",
    	year = 2018,
    	url = "http://ieeexplore.ieee.org/document/8276269/",
    	pdf = "data/papers/ral_2018_grasping.pdf"
    }
    
  29. Jan Faigl and Robert Pěnička. On Close Enough Orienteering Problem with Dubins Vehicle. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017, 5646-5652. PDF BibTeX

    @inproceedings{faigl17iros_cedop,
    	title = "On Close Enough Orienteering Problem with Dubins Vehicle",
    	author = "Jan Faigl and Robert P\v{e}ni\v{c}ka",
    	booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    	year = 2017,
    	pages = "5646-5652",
    	pdf = "https://comrob.fel.cvut.cz/papers/iros17cedop.pdf"
    }
    
  30. Robert Pěnička, Martin Saska, Christophe Reymann and Simon Lacroix. Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs. In European Conference of Mobile Robotics (ECMR). 2017, 259-264. URL PDF BibTeX

    @inproceedings{penicka_ecmr_rdtsp,
    	author = "Robert P\v{e}ni\v{c}ka and Martin Saska and Christophe Reymann and Simon Lacroix",
    	title = "Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs",
    	booktitle = "European Conference of Mobile Robotics (ECMR)",
    	year = 2017,
    	pages = "259-264",
    	url = "http://mrs.felk.cvut.cz/ecmr17rdtsp",
    	pdf = "data/papers/penicka2017ecmr.pdf"
    }
    
  31. Petr Váňa, Jan Faigl, Jakub Sláma and Robert Pěnička. Data Collection Planning with Dubins Airplane Model and Limited Travel Budget. In European Conference of Mobile Robotics (ECMR). 2017, 328-333. PDF BibTeX

    @inproceedings{vana_ecmr_da-op,
    	author = "Petr V\'{a}\v{n}a and Jan Faigl and Jakub Sl\'{a}ma and Robert P\v{e}ni\v{c}ka",
    	title = "Data Collection Planning with Dubins Airplane Model and Limited Travel Budget",
    	booktitle = "European Conference of Mobile Robotics (ECMR)",
    	year = 2017,
    	pages = "328-333",
    	pdf = "https://comrob.fel.cvut.cz/papers/ecmr17dop3d.pdf"
    }
    
  32. Robert Pěnička, Jan Faigl, Petr Váňa and Martin Saska. Dubins orienteering problem with neighborhoods. In 2017 International Conference on Unmanned Aircraft Systems (ICUAS). June 2017, 1555-1562. PDF BibTeX

    @inproceedings{penicka_icuas_dopn,
    	author = "Robert P\v{e}ni\v{c}ka and Jan Faigl and Petr V\'{a}\v{n}a and Martin Saska",
    	booktitle = "2017 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "Dubins orienteering problem with neighborhoods",
    	year = 2017,
    	pages = "1555-1562",
    	pdf = "data/papers/penicka2017icuas.pdf",
    	month = "June"
    }
    
  33. Robert Pěnička, Jan Faigl, Petr Váňa and Martin Saska. Dubins Orienteering Problem. IEEE Robotics and Automation Letters 2(2):1210-1217, April 2017. URL PDF, DOI BibTeX

    @article{penicka_ral_dop_17,
    	author = "Robert P\v{e}ni\v{c}ka and Jan Faigl and Petr V\'{a}\v{n}a and Martin Saska",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Dubins Orienteering Problem",
    	year = 2017,
    	volume = 2,
    	number = 2,
    	pages = "1210-1217",
    	url = "http://mrs.felk.cvut.cz/icra17dop",
    	doi = "10.1109/LRA.2017.2666261",
    	issn = "2377-3766",
    	month = "April",
    	pdf = "data/papers/ral2017dop.pdf"
    }
    
  34. D Zahrádka, R Pěnička and M Saska. Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint. In Modelling and Simulation for Autonomous Systems. 2019, 365–389. PDF BibTeX

    @inproceedings{Zahradka_DTOPN,
    	author = "D. Zahr{\'a}dka and R. P{\v{e}}ni{\v{c}}ka and M. Saska",
    	title = "Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint",
    	booktitle = "Modelling and Simulation for Autonomous Systems",
    	year = 2019,
    	pages = "365--389",
    	pdf = "data/papers/ZahradkaMESAS2019.pdf"
    }
    
  35. A Dubeň, R Pěnička and M Saska. Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight. In Modelling and Simulation for Autonomous Systems. 2019, 172–201. PDF BibTeX

    @inproceedings{Duben_HOP,
    	author = "A. Dube{\v{n}} and R. P{\v{e}}ni{\v{c}}ka and M. Saska",
    	title = "Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight",
    	booktitle = "Modelling and Simulation for Autonomous Systems",
    	year = 2019,
    	pages = "172--201",
    	pdf = "data/papers/DubenMESAS2019.pdf"
    }
    
  36. Jan Faigl, Robert Pěnička and Graeme Best. Self-organizing map-based solution for the Orienteering problem with neighborhoods. In 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC). October 2016, 001315-001321. PDF, DOI BibTeX

    @inproceedings{faigl_smc_som_opn,
    	author = "Jan Faigl and Robert P\v{e}ni\v{c}ka and Graeme Best",
    	booktitle = "2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)",
    	title = "Self-organizing map-based solution for the Orienteering problem with neighborhoods",
    	year = 2016,
    	pages = "001315-001321",
    	doi = "10.1109/SMC.2016.7844421",
    	month = "Oct",
    	pdf = "https://comrob.fel.cvut.cz/papers/smc16opn.pdf"
    }
    
  37. Axel Vick, Vojtech Vonasek, Robert Penicka and Jorg Kruger. Robot control as a service - Towards cloud-based motion planning and control for industrial robots. In Robot Motion and Control (RoMoCo), 2015 10th International Workshop on. July 2015, 33-39. URL PDF, DOI BibTeX

    @inproceedings{vick_romoco_motion_planning_cloud,
    	author = "Axel Vick and Vojtech Vonasek and Robert Penicka and Jorg Kruger",
    	booktitle = "Robot Motion and Control (RoMoCo), 2015 10th International Workshop on",
    	title = "Robot control as a service - Towards cloud-based motion planning and control for industrial robots",
    	year = 2015,
    	pages = "33-39",
    	doi = "10.1109/RoMoCo.2015.7219710",
    	month = "July",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219710",
    	pdf = "data/papers/romoco2015-rcaas.pdf"
    }