|
Journal publications: |
|
Vít Krátký, Robert Pěnička, Parakh M Gupta, Ondřej Procházka and Martin Saska. RVC-NMPC: Nonlinear Model Predictive Control With Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight. IEEE Robotics and Automation Letters 11(11):13405-13412, October 2026. URL PDF video, DOI BibTeX @article{kratky2026rvcNmpc,
author = "Krátký, Vít and Pěnička, Robert and Gupta, Parakh M. and Procházka, Ondřej and Saska, Martin",
journal = "IEEE Robotics and Automation Letters",
title = "RVC-NMPC: Nonlinear Model Predictive Control With Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight",
year = 2026,
volume = 11,
number = 11,
pages = "13405-13412",
doi = "10.1109/LRA.2026.3737070",
pdf = "https://arxiv.org/pdf/2512.08574",
video = "https://youtu.be/LYnn-eDvkec",
url = "https://ieeexplore.ieee.org/document/11704100",
month = "October"
}
Manuel Boldrer, Vit Kratky, Viktor Walter and Martin Saska. Distributed Lloyd-based algorithm for uncertainty-aware multi-robot under-canopy flocking. IEEE Robotics and Automation Letters 11(5):5526-5533, May 2026. URL PDF video, DOI BibTeX @article{boldrer2026distributed,
title = "Distributed Lloyd-based algorithm for uncertainty-aware multi-robot under-canopy flocking",
author = "Boldrer, Manuel and Kratky, Vit and Walter, Viktor and Saska, Martin",
journal = "IEEE Robotics and Automation Letters",
year = 2026,
publisher = "IEEE",
volume = 11,
number = 5,
pages = "5526-5533",
pdf = "data/papers/Boldrer2026_ral.pdf",
doi = "https://doi.org/10.1109/LRA.2026.3673985",
url = "https://ieeexplore.ieee.org/document/11433776",
video = "https://www.youtube.com/watch?v=yHyvrk9WCE8",
month = "May"
}
Manuel Boldrer, Vit Kratky and Martin Saska. Aerial robots persistent monitoring and target detection: deployment and assessment in the field. Autonomous Robots 50(1):11, February 2026. URL PDF video, DOI BibTeX @article{boldrer2026aerial,
title = "Aerial robots persistent monitoring and target detection: deployment and assessment in the field",
author = "Boldrer, Manuel and Kratky, Vit and Saska, Martin",
journal = "Autonomous Robots",
volume = 50,
number = 1,
pages = 11,
year = 2026,
month = "February",
publisher = "Springer",
pdf = "data/papers/Boldrer2026_auro.pdf",
doi = "https://doi.org/10.1007/s10514-025-10239-y",
url = "https://link.springer.com/article/10.1007/s10514-025-10239-y",
video = "https://www.youtube.com/watch?v=ypPlVoO01U0"
}
Anibal Ollero, Alejandro Suarez, Christos Papaioannidis, Ioannis Pitas, Juan Manuel Marredo, Viet Duong Hoang, Emad Ebeid, Vit Kratky, Martin Saska, Chloe Hanoune, Amr Afifi, Antonio Franchi, Charalampos Vourtsis, Dario Floreano, Goran Vasiljevic, Stjepan Bogdan, Alvaro Caballero, Fabio Ruggiero, Vincenzo Lippiello, Carlos Matilla, Giovanni Cioffi, Davide Scaramuzza, Jose Ramiro Martinez De Dios, Begoña C Arrue, Carlos Martin, Krzysztof Zurad, Carlos Gaitan, Jacob Rodriguez, Antonio Muñoz and Antidio Viguria. Multi-Aerial Robotic System for Power Line Inspection and Maintenance: Comparative Analysis from the AERIAL-CORE Final Experiments. IEEE Transactions on Field Robotics 2:549-573, July 2025. URL PDF video, DOI BibTeX @article{Ollero2025AerialCore,
author = "Ollero, Anibal and Suarez, Alejandro and Papaioannidis, Christos and Pitas, Ioannis and Marredo, Juan Manuel and Hoang, Viet Duong and Ebeid, Emad and Kratky, Vit and Saska, Martin and Hanoune, Chloe and Afifi, Amr and Franchi, Antonio and Vourtsis, Charalampos and Floreano, Dario and Vasiljevic, Goran and Bogdan, Stjepan and Caballero, Alvaro and Ruggiero, Fabio and Lippiello, Vincenzo and Matilla, Carlos and Cioffi, Giovanni and Scaramuzza, Davide and Dios, Jose Ramiro Martinez De and Arrue, Begoña C. and Martin, Carlos and Zurad, Krzysztof and Gaitan, Carlos and Rodriguez, Jacob and Muñoz, Antonio and Viguria, Antidio",
journal = "IEEE Transactions on Field Robotics",
title = "Multi-Aerial Robotic System for Power Line Inspection and Maintenance: Comparative Analysis from the AERIAL-CORE Final Experiments",
year = 2025,
volume = 2,
pages = "549-573",
month = "July",
doi = "10.1109/TFR.2025.3586991",
pdf = "data/papers/TFR_2025_aerial_core.pdf",
video = "https://youtu.be/Oyw7VwM7sCs?si=CR9fRL7tIHxzxvQH",
url = "https://ieeexplore.ieee.org/document/11072833"
}
Vít Krátký, Giuseppe Silano, Matouš Vrba, Christos Papaioannidis, Ioannis Mademlis, Robert Pěnička, Ioannis Pitas and Martin Saska. Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications. IEEE Robotics and Automation Letters 10(8):8244-8251, August 2025. URL PDF video, DOI BibTeX @article{kratky2025gesture,
title = "Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications",
author = "Vít Krátký and Giuseppe Silano and Matouš Vrba and Christos Papaioannidis and Ioannis Mademlis and Robert Pěnička and Ioannis Pitas and Martin Saska",
year = 2025,
journal = "IEEE Robotics and Automation Letters",
publisher = "IEEE",
pdf = "data/papers/240315333.pdf",
doi = "10.1109/LRA.2025.3583607",
url = "https://ieeexplore.ieee.org/document/11051238",
volume = 10,
number = 8,
month = "August",
pages = "8244-8251",
video = "https://youtu.be/ffuKVJcp0A4?si=C0gVOqUkS8Fsi4Kh"
}
Vit Kratky, Robert Penicka, Jiri Horyna, Petr Stibinger, Tomas Baca, Matej Petrlik, Petr Stepan and Martin Saska. CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3-D Environments. IEEE Transactions on Robotics 41():2950-2969, 2025. PDF video, DOI BibTeX @article{kratky2025catora,
author = "Kratky, Vit and Penicka, Robert and Horyna, Jiri and Stibinger, Petr and Baca, Tomas and Petrlik, Matej and Stepan, Petr and Saska, Martin",
journal = "IEEE Transactions on Robotics",
title = "{CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3-D Environments}",
year = 2025,
volume = 41,
number = "",
pages = "2950-2969",
doi = "10.1109/TRO.2025.3547296",
pdf = "data/papers/cat-ora.pdf",
video = "https://youtu.be/FOCyGhxazMI?si=4YnsDmp6k77GWJhR"
}
Jiri Horyna, Vit Kratky, Vaclav Pritzl, Tomas Baca, Eliseo Ferrante and Martin Saska. Fast Swarming of UAVs in GNSS-denied Feature-Poor Environments without Explicit Communication. IEEE Robotics and Automation Letters 9(6):5284-5291, April 2024. PDF, DOI BibTeX @article{horyna2024mrse,
author = "{Horyna}, Jiri and {Kratky}, Vit and {Pritzl}, Vaclav and {Baca}, Tomas and {Ferrante}, Eliseo and {Saska}, Martin",
title = "{Fast Swarming of UAVs in GNSS-denied Feature-Poor Environments without Explicit Communication}",
journal = "IEEE Robotics and Automation Letters",
year = 2024,
month = "April",
pages = "5284-5291",
volume = 9,
number = 6,
pdf = "data/papers/horyna2024mrse.pdf",
doi = "10.1109/LRA.2024.3390596"
}
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"
}
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 31(2):8-25, June 2024. PDF video, DOI BibTeX @article{petracek2024ram,
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 = 2024,
volume = 31,
number = 2,
pages = "8-25",
month = "June",
doi = "10.1109/MRA.2023.3244423",
pdf = "data/papers/petracek2023ram.pdf",
video = "https://youtu.be/Gx-mBklSbYc?si=EdpgUL80xwZXXPwG"
}
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"
}
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"
}
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"
}
Jindřiška Deckerová, Jan Faigl and Vít Krátký. Traveling Salesman Problem with neighborhoods on a sphere in reflectance transformation imaging scenarios. Expert Systems with Applications 198:116814, March 2022. URL PDF, DOI BibTeX @article{deckerova2022tspns,
author = "Deckerová, Jindřiška and Faigl, Jan and Krátký, Vít",
title = "Traveling Salesman Problem with neighborhoods on a sphere in reflectance transformation imaging scenarios",
journal = "Expert Systems with Applications",
volume = 198,
pages = 116814,
year = 2022,
month = "March",
issn = "0957-4174",
doi = "10.1016/j.eswa.2022.116814",
url = "https://www.sciencedirect.com/science/article/pii/S0957417422002718?via=ihub",
pdf = "https://www.sciencedirect.com/science/article/pii/S0957417422002718?via=ihub"
}
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"
}
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"
}
Vít Krátký, Alfonso Alcántara, Jesús Capitán, Petr Štěpán, Martin Saska and Aníbal Ollero. Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7580-7587, October 2021. PDF, DOI BibTeX @article{kratky2021aerialfilming,
author = "{Krátký}, Vít and {Alcántara}, Alfonso and {Capitán}, Jesús and {Štěpán}, Petr and {Saska}, Martin and {Ollero}, Aníbal",
title = "{Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles}",
journal = "IEEE Robotics and Automation Letters",
year = 2021,
month = "October",
pdf = "data/papers/aerialCinematographyRal.pdf",
doi = "10.1109/LRA.2021.3098811",
pages = "7580-7587",
volume = 6,
number = 4
}
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"
}
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"
}
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"
}
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"
}
M Saska, D Hert, T Baca, V Kratky and T Nascimento. Formation control of unmanned micro aerial vehicles for straitened environments. Autonomous Robots 44:991-1008, 2020. PDF, DOI BibTeX @article{saska2020formation,
author = "Saska, M. and Hert, D. and Baca, T. and Kratky, V. and Nascimento, T.",
doi = "10.1007/s10514-020-09913-0",
journal = "Autonomous Robots",
volume = 44,
issue = 6,
pages = "991-1008",
publisher = "Springer",
title = "{Formation control of unmanned micro aerial vehicles for straitened environments}",
type = "article",
year = 2020,
pdf = "data/papers/saska2020formation.pdf"
}
|
orcid.org/0000-0002-1914-742X
