Multi-robot Systems

Robotics and advanced industrial production

The ROBOPROX project focuses on breakthrough research and development in robotics and advanced industrial manufacturing by leveraging flexible deployment of robots with a high degree of autonomy, safe collaboration with humans, control and optimization of manufacturing processes, and computational methods for manufacturing and materials engineering. Cutting-edge research in this area will enable the development of more complex, modular and advanced solutions, and help increase the competitiveness of Czech industry. The project is interdisciplinary and promotes flexible development practices to meet changing customer requirements and respect increasing environmental constraints.

PROJECT OBJECTIVES

The ROBOPROX project aims to create a growth pool of state-of-the-art research in robotics and industrial production by supporting excellent research teams in the field, enhancing current knowledge, creating original inventions, strengthening curricula of project partners, and leveraging national and international collaboration and research excellence. The aim is to transform Czech and European companies to provide more flexible, complex, competitive, and sustainable industrial production. Mathematical modeling, data-driven approaches, simulations, optimization algorithms, and formal methods are gaining wide acceptance in the industry. However, suitable tools are needed because there are no underlying concepts, linkable models, and high-performance algorithms. This need opens a clear opportunity for the ROBOPROX project to create an excellent new research environment for developing and deploying innovative research approaches in the industry.

Implementation of main research activities within two research work packages (WP)
Strengthening the R&D capacity by establishing and developing excellent research teams in the fields of robotics and advanced industrial production
Establishing new international collaboration
Strengthening the international collaboration of ROBOPROX research teams
Acquisition of instrumental and infrastructural equipment necessary for the implementation of research projects
Supporting the mobility of researchers – Implementation of the mobility programme

RA8 Cooperative aerial robots for advanced industrial production

Abstract:

RA8 focuses on multi-robot autonomy in cooperative industrial production. Cooperative aerial robots (UAVs) can significantly improve future industrial production, e.g., by delivering components inside and outside industrial facilities. Currently, the deployment of UAV teams is limited by the quality of localization and mapping, flight speeds, and the efficiency of distributing tasks among a team of robots. Therefore, the focus will be on developing novel multi-robot mapping and localization techniques, motion planning for UAV agile flight in unknown dynamic environments, and on high-level mission planning for efficient deployment of multi-robot teams.

Coordinator:

Partners:

In Media:

Publications:

Krystof Teissing, Matej Novosad, Robert Penicka and Martin Saska. Real-time Planning of Minimum-time Trajectories for Agile UAV Flight. IEEE Robotics and Automation Letters ():1-8, 2024. URL PDF, DOI BibTeX

@article{teissing2024pmm,
	author = "Teissing, Krystof and Novosad, Matej and Penicka, Robert and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "Real-time Planning of Minimum-time Trajectories for Agile UAV Flight",
	year = 2024,
	volume = "",
	number = "",
	pages = "1-8",
	doi = "10.1109/LRA.2024.3471388",
	url = "https://ieeexplore.ieee.org/document/10700666",
	pdf = "https://arxiv.org/pdf/2409.16074"
}

Daniel Bonilla Licea, Hajar El Hammouti, Giuseppe Silano and Martin Saska. Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping. In 2024 IEEE Global Communications Conference (IEEE GLOBECOM). December 2024, . PDF, DOI BibTeX

@inproceedings{Licea2024GLOBECOM,
	author = "{Bonilla Licea}, Daniel and {El Hammouti}, Hajar and {Silano}, Giuseppe and {Saska}, Martin",
	booktitle = "2024 IEEE Global Communications Conference (IEEE GLOBECOM)",
	doi = "",
	month = "December",
	organization = "IEEE",
	pages = "",
	pdf = "data/papers/GLOBECOM_2024.pdf",
	title = "{Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping}",
	url = "",
	year = 2024
}

Martin Křížek, Matouš Vrba, Antonella Barišić Kulaš, Stjepan Bogdan and Martin Saska. Bio-inspired visual relative localization for large swarms of UAVs. In International Conference on Robotics and Automation (ICRA). May 2024, 11825-11831. PDF, DOI BibTeX

@inproceedings{krizek2024icra,
	author = "Martin Křížek and Matouš Vrba and Antonella Barišić Kulaš and Stjepan Bogdan and Martin Saska",
	booktitle = "International Conference on Robotics and Automation (ICRA)",
	doi = "10.1109/ICRA57147.2024.10610100",
	month = "May",
	organization = "IEEE",
	pages = "11825-11831",
	pdf = "data/papers/bio-inspired-icra2024.pdf",
	title = "Bio-inspired visual relative localization for large swarms of {UAVs}",
	year = 2024
}

Vojtěch Vonásek Michal Minařík Robert Pěnička and Martin Saska. Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2024. PDF BibTeX

@inproceedings{MinarikAgileMPPI2024,
	author = "Michal Mina\v{r}\'{i}k, Robert P\v{e}ni\v{c}ka, Vojt\v{e}ch Von\'{a}sek, and Martin Saska",
	booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
	pdf = "data/papers/iros2024minarik.pdf",
	title = "Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles",
	year = 2024
}

Václav Pritzl, Matouš Vrba, Yurii Stasinchuk, Vít Krátký, Jiří Horyna, Petr Štěpán and Martin Saska. Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2024. PDF BibTeX

@inproceedings{pritzlDronesGuidingDrones2024,
	author = "Václav Pritzl and Matouš Vrba and Yurii Stasinchuk and Vít Krátký and Jiří Horyna and Petr Štěpán and Martin Saska",
	booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
	pdf = "data/papers/iros2024pritzl.pdf",
	title = "Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments",
	year = 2024
}

Michaela Cihlářová, Václav Pritzl and Martin Saska. Cooperative Indoor Exploration Leveraging a Mixed-Size UAV Team with Heterogeneous Sensors. In IEEE International Conference on Automation Science and Engineering (CASE). 2024. PDF BibTeX

@inproceedings{cihlarovaCooperativeIndoor2024,
	author = "Michaela Cihlářová and Václav Pritzl and Martin Saska",
	booktitle = "IEEE International Conference on Automation Science and Engineering (CASE)",
	pdf = "data/papers/case2024cihlarova.pdf",
	title = "Cooperative Indoor Exploration Leveraging a Mixed-Size UAV Team with Heterogeneous Sensors",
	year = 2024
}

Filip Novák, Tomáš Báča and Martin Saska. Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2024. PDF BibTeX

@inproceedings{novakObjectManipulation2024,
	author = "Filip Nov{\'{a}}k and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
	booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
	pdf = "data/papers/iros2024novak.pdf",
	title = "Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers",
	year = 2024
}

M Rudorfer, J Hartvich and V Vonásek. A framework for joint grasp and motion planning in confined spaces. In 13th International Workshop on Robot Motion and Control (RoMoCo). 2024. URL BibTeX

@inproceedings{jogramop2024,
	author = "M. Rudorfer and J. Hartvich and V. Von\'{a}sek",
	booktitle = "13th International Workshop on Robot Motion and Control (RoMoCo)",
	note = "available at: https://mrudorfer.github.io/jogramop-framework/",
	title = "A framework for joint grasp and motion planning in confined spaces",
	url = "https://mrudorfer.github.io/jogramop-framework/",
	year = 2024
}

Filip Novák, Tomáš Báča, Ondřej Procházka and Martin Saska. Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves. In International Conference on Informatics in Control, Automation and Robotics (ICINCO). 2024. PDF BibTeX

@inproceedings{novakTowardsUavUsvCollaboration2024,
	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",
	booktitle = "International Conference on Informatics in Control, Automation and Robotics (ICINCO)",
	pdf = "data/papers/icinco2024novak.pdf",
	title = "Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves",
	year = 2024
}