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:

Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti, Mounir Ghogho and Martin Saska. Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks. In 2025 IEEE International Conference on Robotics and Automation (ICRA), Contribution accepted for discussion at the workshop session: "Beyond the Lab: Robust Planning and Control in Real World Scenarios", Atlanta, USA. May 2025, 1-2. URL PDF, DOI BibTeX

@inproceedings{Silano2025ICRA_WS_CONTRIBUTION_COMM_PAPER,
	author = "{Silano}, Giuseppe and {Bonilla Licea}, Daniel and {El Hammouti}, Hajar and {Ghogho}, Mounir and {Saska}, Martin",
	booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA), Contribution accepted for discussion at the workshop session: "Beyond the Lab: Robust Planning and Control in Real World Scenarios", Atlanta, USA},
	title = "{Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks}",
	year = 2025,
	month = "May",
	note = {Contribution accepted for discussion at the workshop session: "Beyond the Lab: Robust Planning and Control in Real World Scenarios", Atlanta, USA},
	pdf = "data/papers/icra25_workshop_com_paper.pdf",
	pages = "1-2",
	url = "https://arxiv.org/abs/2504.15089",
	doi = "10.48550/arXiv.2504.15089"
}

Veli Bakırcıoğlu, Nihat Çabuk, Hossein B Jond and Mete Kalyoncu. Optimization-driven design and experimental validation of a hydraulic robot leg mechanism. Measurement, page 117096, 2025. URL, DOI BibTeX

@article{BAKIRCIOGLU2025117096,
	title = "Optimization-driven design and experimental validation of a hydraulic robot leg mechanism",
	journal = "Measurement",
	pages = 117096,
	year = 2025,
	issn = "0263-2241",
	doi = "https://doi.org/10.1016/j.measurement.2025.117096",
	url = "https://www.sciencedirect.com/science/article/pii/S0263224125004555",
	author = "Veli Bakırcıoğlu and Nihat Çabuk and Hossein B. Jond and Mete Kalyoncu",
	keywords = "Legged robots, Optimal mechanism design, Optimization, Quadruped robots, Evolutionary algorithms",
	abstract = "Hydraulic-actuated legs for quadruped robots excel in producing high force and offering precise control. Although the overall efficiency of hydraulic servo systems can be limited by pump and valve losses, the local mechanical efficiency from the actuator to the leg mechanism can be relatively high. This study introduces an optimization driven methodology for designing and validating robotic leg mechanisms using evolutionary algorithms. By solving three distinct optimization problems, the study addresses trajectory tracking accuracy and force transmission efficiency. The resulting design was experimentally validated, demonstrating reliable motion reproduction with minimal deviation and achieving a force transmission efficiency of 94%. These results demonstrate the feasibility of translating optimization outcomes into high-performing physical prototypes, providing a robust framework for future robotic mechanism development."
}

Veli Bakırcıoğlu, Hossein B Jond and Fatih Yilmaz. Multi-Objective optimization and thermodynamic analysis of a supercritical CO2 Brayton cycle in a solar-powered multigeneration plant for net-zero emission goals. Energy Conversion and Management 328:119628, 2025. URL, DOI BibTeX

@article{BAKIRCIOGLU2025119628,
	title = "Multi-Objective optimization and thermodynamic analysis of a supercritical CO2 Brayton cycle in a solar-powered multigeneration plant for net-zero emission goals",
	journal = "Energy Conversion and Management",
	volume = 328,
	pages = 119628,
	year = 2025,
	issn = "0196-8904",
	doi = "https://doi.org/10.1016/j.enconman.2025.119628",
	url = "https://www.sciencedirect.com/science/article/pii/S0196890425001517",
	author = "Veli Bakırcıoğlu and Hossein B. Jond and Fatih Yilmaz",
	keywords = "Energy, Exergy, Freshwater, Solar energy, Multi-objective optimization, TOPSIS",
	abstract = "The development, design, examination, and optimization of carbon-free power generation models are essential to achieve a sustainable future with net-zero emissions. This study introduces a novel multigeneration system, uniquely combining a supercritical CO2 Brayton cycle and a transcritical CO2 Rankine cycle, supported by a solar parabolic trough collector. The system integrates a reverse osmosis desalination unit, enabling simultaneous production of clean water, heating, and power. A multi-objective optimization framework is implemented by the NSGA-II algorithm, coupled with the TOPSIS method, to explore and identify optimal operational conditions. The innovation lies in the comprehensive consideration of solar incident angles and their impact on system performance, a rarely addressed aspect in the literature. Detailed thermodynamic analysis highlights system performance, achieving a net power capacity of 1052 kW, freshwater generation of 90.44 m3/h, and hot water generation of 1614 kW. The optimized results demonstrate significant improvements in overall energy (50.28 %) and exergy efficiency (22.31 %), showcasing the system’s potential as a benchmark for sustainable, zero-emission energy solutions."
}

Giuseppe Silano, Alvaro Cabellero, Davide Liuzza, Luigi Iannelli, Stjepan Bogdan and Martin Saska. A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study. Robotics and Autonomous Systems 186:1–16, April 2025. URL PDF, DOI BibTeX

@article{Silano2024RAS,
	author = "{Silano}, Giuseppe and {Cabellero}, Alvaro and {Liuzza}, Davide and {Iannelli}, Luigi and {Bogdan}, Stjepan and {Saska}, Martin",
	title = "{A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study}",
	year = 2025,
	pages = "1--16",
	journal = "Robotics and Autonomous Systems",
	pdf = "data/papers/RAS_STL.pdf",
	publisher = "Elsevier",
	url = "https://www.sciencedirect.com/science/article/pii/S0921889024002896",
	doi = "10.1016/j.robot.2024.104905",
	month = "April",
	volume = 186
}

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, 2052-2058. URL PDF, DOI BibTeX

@inproceedings{Licea2024GLOBECOM,
	author = "{Bonilla Licea}, Daniel and {El Hammouti}, Hajar and {Silano}, Giuseppe and {Saska}, Martin",
	title = "{Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping}",
	booktitle = "2024 IEEE Global Communications Conference (IEEE GLOBECOM)",
	year = 2024,
	organization = "IEEE",
	month = "December",
	pdf = "data/papers/GLOBECOM_2024.pdf",
	pages = "2052-2058",
	doi = "10.1109/GLOBECOM52923.2024.10901802",
	url = "https://ieeexplore.ieee.org/document/10901802"
}

Daniel Bonilla Licea, Giuseppe Silano, Mounir Ghogho and Martin Saska. Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security. In 2024 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP). April 2024, 9021-9025. PDF, DOI BibTeX

@inproceedings{Bonilla2024ICASSP,
	author = "{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Ghogho}, Mounir and {Saska}, Martin",
	booktitle = "2024 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)",
	title = "{Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security}",
	year = 2024,
	month = "April",
	organization = "IEEE",
	pdf = "data/papers/ICASSP-2024.pdf",
	pages = "9021-9025",
	doi = "10.1109/ICASSP48485.2024.10447876"
}

Daniel Bonilla Licea, Giuseppe Silano, Hajar El Hammouti, Mounir Ghogho and Martin Saska. Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles. IEEE Communications Magazine ():, 2024. PDF, DOI BibTeX

@article{Bonilla2024IEEECommMagazine,
	title = "{Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles}",
	author = "{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {El Hammouti}, Hajar and {Ghogho}, Mounir and {Saska}, Martin",
	pdf = "data/papers/IEEEComMag_2024.pdf",
	doi = "10.1109/MCOM.001.2400421",
	number = "",
	volume = "",
	pages = "",
	journal = "IEEE Communications Magazine",
	year = 2024,
	url = ""
}

Jonáš Kříž and Vojtěch Vonásek. Asymptotically optimal path planning with an approximation of the omniscient set. IEEE Robotics and Automation Letters ():1-8, 2025. arXiv video code, DOI BibTeX

@article{kriz2025asymptotically,
	author = "K\v{r}\'{i}\v{z}, Jon\'{a}\v{s} and Von\'{a}sek, Vojt\v{e}ch",
	journal = "IEEE Robotics and Automation Letters",
	title = "Asymptotically optimal path planning with an approximation of the omniscient set",
	year = 2025,
	volume = "",
	number = "",
	pages = "1-8",
	keywords = "Costs;Convergence;Planning;Convolutional neural networks;Training;Nearest neighbor methods;Euclidean distance;Data mining;Convex hulls;Collision avoidance;Motion and Path Planning;Planning, Scheduling and Coordination",
	doi = "10.1109/LRA.2025.3540627",
	video = "https://www.youtube.com/watch?v=oeV3-_c1-t0",
	code = "https://github.com/BipoaroXigen/JPL",
	arxiv = "https://arxiv.org/abs/2503.16164"
}

Petr Ježek, Michal Minařík, Vojtěch Vonásek and Robert Pěnička. KRRF: Kinodynamic Rapidly-Exploring Random Forest Algorithm for Multi-Goal Motion Planning. IEEE Robotics and Automation Letters ():1-8, 2024. URL, DOI BibTeX

@article{jezek2024krrf,
	author = "Je\v{z}ek, Petr and Mina\v{r}\'{i}k, Michal and Von\'{a}sek, Vojt\v{e}ch and P\v{e}ni\v{c}ka, Robert",
	journal = "IEEE Robotics and Automation Letters",
	title = "KRRF: Kinodynamic Rapidly-Exploring Random Forest Algorithm for Multi-Goal Motion Planning",
	year = 2024,
	volume = "",
	number = "",
	pages = "1-8",
	keywords = "Trajectory;Planning;Costs;Random forests;Robots;Computational modeling;Space exploration;Collision avoidance;Traveling salesman problems;Robot kinematics;Motion and Path Planning;Planning, Scheduling and Coordination",
	doi = "10.1109/LRA.2024.3478570",
	url = "https://ieeexplore.ieee.org/document/10714001"
}

Ondřej Procházka, Filip Novák, Tomáš Báča, Parakh M Gupta, Robert Pěnička and Martin Saska. Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat. Ocean Engineering 313:119164, 2024. PDF BibTeX

@article{prochazka2024model,
	title = "Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat",
	author = "Proch{\'a}zka, Ond{\v{r}}ej and Nov{\'a}k, Filip and B{\'a}{\v{c}}a, Tom{\'a}{\v{s}} and Gupta, Parakh M and P{\v{e}}ni{\v{c}}ka, Robert and Saska, Martin",
	journal = "Ocean Engineering",
	volume = 313,
	pages = 119164,
	year = 2024,
	publisher = "Elsevier",
	pdf = "data/papers/2024_Prochazka.pdf"
}

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 3D Environments. 2024. URL PDF BibTeX

@misc{kratky2024catora,
	title = "CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments",
	author = "Vit Kratky and Robert Penicka and Jiri Horyna and Petr Stibinger and Tomas Baca and Matej Petrlik and Petr Stepan and Martin Saska",
	year = 2024,
	eprint = "2412.00603",
	archiveprefix = "arXiv",
	primaryclass = "cs.RO",
	url = "https://arxiv.org/abs/2412.00603",
	pdf = "data/papers/cat-ora.pdf"
}

Matouš Vrba, Viktor Walter, Václav Pritzl, Michal Pliska, Tomáš Báča, Vojtěch Spurný, Daniel Heřt and Martin Saska. On Onboard LiDAR-Based Flying Object Detection. Transactions on Robotics 41:593–611, 2025. PDF, DOI BibTeX

@article{vrba2025OnboardLiDARBasedFlying,
	title = "On Onboard LiDAR-Based Flying Object Detection",
	author = "Vrba, Matouš and Walter, Viktor and Pritzl, Václav and Pliska, Michal and Báča, Tomáš and Spurný, Vojtěch and Heřt, Daniel and Saska, Martin",
	year = 2025,
	journal = "Transactions on Robotics",
	volume = 41,
	pages = "593--611",
	issn = "1941-0468",
	doi = "10.1109/TRO.2024.3502494",
	pdf = "data/papers/2025_T-RO_On_Onboard_LiDAR-based_Flying_Object_Detection.pdf"
}

Dariusz Horla, Wojciech Giernacki, Vít Krátký, Petr Štibinger, Tomáš Báča and Martin Saska. On Rapid Parallel Tuning of Controllers of a Swarm of MAVs – Distribution Strategies of the Updated Gains. In 2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV). December 2024, 1182-1188. URL, DOI BibTeX

@inproceedings{horla2024parallelTuning,
	author = "Horla, Dariusz and Giernacki, Wojciech and Krátký, Vít and Štibinger, Petr and Báča, Tomáš and Saska, Martin",
	booktitle = "2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)",
	title = "On Rapid Parallel Tuning of Controllers of a Swarm of MAVs – Distribution Strategies of the Updated Gains",
	year = 2024,
	pages = "1182-1188",
	keywords = "Automation;Distribution strategy;Noise;Gain measurement;Robot sensing systems;Data models;Reliability;Noise measurement;Tuning;Testing;tuning;optimization;tracking performance;swarm;MAVs",
	doi = "10.1109/ICARCV63323.2024.10821603",
	url = "https://ieeexplore.ieee.org/document/10821603",
	month = "December"
}

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 9(11):10351-10358, 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 = 9,
	number = 11,
	pages = "10351-10358",
	doi = "10.1109/LRA.2024.3471388",
	url = "https://ieeexplore.ieee.org/document/10700666",
	pdf = "https://arxiv.org/pdf/2409.16074.pdf"
}

Michal Pliska, Matouš Vrba, Tomáš Báča and Martin Saska. Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture. Robotics and Automation Letters 9(10):8810-8817, 2024. PDF, DOI BibTeX

@article{pliska2024ral,
	author = "Pliska, Michal and Vrba, Matouš and Báča, Tomáš and Saska, Martin",
	journal = "Robotics and Automation Letters",
	title = "Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture",
	year = 2024,
	volume = 9,
	number = 10,
	pages = "8810-8817",
	keywords = "Trajectory;Target tracking;Autonomous aerial vehicles;Navigation;State estimation;Accuracy;Three-dimensional displays;Aerial systems: Perception and autonomy;field robots;reactive and sensor-based planning",
	doi = "10.1109/LRA.2024.3451768",
	pdf = "data/papers/pliska2024ral.pdf"
}

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
}

Michal Minařík, Pěnička Robert, Vojtěch Vonásek and Martin Saska. Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2024, 13144-13151. PDF, DOI BibTeX

@inproceedings{MinarikAgileMPPI20242,
	title = "Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles",
	author = "Mina\v{r}\'{i}k, Michal and P\v{e}ni\v{c}ka, Robert, and Von\'{a}sek, Vojt\v{e}ch and Saska, Martin",
	year = 2024,
	pages = "13144-13151",
	booktitle = "2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
	pdf = "data/papers/iros2024minarik.pdf",
	doi = "10.1109/IROS58592.2024.10802756"
}

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

Pavel Petracek, Kostas Alexis and Martin Saska. RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation. IEEE Robotics and Automation Letters 9(6):5230-5237, June 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 = "5230-5237",
	pdf = "https://mrs.fel.cvut.cz/data/papers/petracek2024rms.pdf",
	doi = "10.1109/LRA.2024.3389820",
	volume = 9,
	number = 6,
	month = "June"
}

Denys Datsko, Frantisek Nekovar, Robert Penicka and Martin Saska. Energy-Aware Multi-UAV Coverage Mission Planning With Optimal Speed of Flight. IEEE Robotics and Automation Letters 9(3):2893–2900, 2024. PDF, DOI BibTeX

@article{Datsko2024MultiCPPOptimal,
	author = "Datsko, Denys and Nekovar, Frantisek and Penicka, Robert and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "{Energy-Aware Multi-UAV Coverage Mission Planning With Optimal Speed of Flight}",
	year = 2024,
	volume = 9,
	number = 3,
	pages = "2893--2900",
	doi = "10.1109/LRA.2024.3358581",
	pdf = "data/papers/datsko2024RALCoverage.pdf"
}

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

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

Filip Novák, Tomáš Báča and Martin Saska. Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2024, 3425-3432. PDF, DOI BibTeX

@inproceedings{novakObjectManipulation2024,
	title = "Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers",
	author = "Filip Nov{\'{a}}k and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
	year = 2024,
	booktitle = "2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
	pages = "3425-3432",
	doi = "10.1109/IROS58592.2024.10802469",
	pdf = "data/papers/iros2024novak.pdf"
}

Filip Novák, Tomáš Báča, Ondřej Procházka and Martin Saska. Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO. 2024, 545-554. PDF, DOI BibTeX

@inproceedings{novakTowardsUavUsvCollaboration2024,
	title = "Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves",
	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",
	year = 2024,
	booktitle = "Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO",
	pages = "545-554",
	publisher = "SciTePress",
	organization = "INSTICC",
	doi = "10.5220/0012910000003822",
	isbn = "978-989-758-717-7",
	issn = "2184-2809",
	pdf = "data/papers/icinco2024novak.pdf"
}

Parakh M Gupta, Ondřej Procházka, Tiago Nascimento and Martin Saska. CurviTrack: Curvilinear Trajectory Tracking for High-Speed Chase of a USV. IEEE Robotics and Automation Letters 10(4):3932-3939, 2025. PDF, DOI BibTeX

@article{Parakh_2025,
	author = "Gupta, Parakh M. and Procházka, Ondřej and Nascimento, Tiago and Saska, Martin",
	journal = "IEEE Robotics and Automation Letters",
	title = "CurviTrack: Curvilinear Trajectory Tracking for High-Speed Chase of a USV",
	year = 2025,
	volume = 10,
	number = 4,
	pages = "3932-3939",
	doi = "10.1109/LRA.2025.3546079",
	keywords = "Autonomous aerial vehicles;Underactuated surface vessels;Predictive models;Trajectory;Visualization;Turning;Kalman filters;Attitude control;Trajectory tracking;Training;Aerial Systems: Mechanics and Control;UAV;MPC;Optimization and Optimal Control;Multi-Robot Systems;Dynamics",
	pdf = "data/papers/ral_curvitrack_2025.pdf"
}

Davi Santos, Martin Saska and Tiago Nascimento. A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles. IEEE Robotics and Automation Letters 9(10):8889-8896, 2024. PDF, DOI BibTeX

@article{Davi_2024,
	author = "Santos, Davi and Saska, Martin and Nascimento, Tiago",
	journal = "IEEE Robotics and Automation Letters",
	title = "A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles",
	year = 2024,
	volume = 9,
	number = 10,
	pages = "8889-8896",
	doi = "10.1109/LRA.2024.3433749",
	pdf = "data/papers/Davi_2024.pdf"
}

Lucas Nogueira Nobrega, Ewerton Oliveira, Martin Saska and Tiago Nascimento. Proximal Control of UAVs With Federated Learning for Human-Robot Collaborative Domains. IEEE Robotics and Automation Letters 9(12):11305-11312, 2024. PDF, DOI BibTeX

@article{Lucas_2024,
	author = "Nobrega, Lucas Nogueira and de Oliveira, Ewerton and Saska, Martin and Nascimento, Tiago",
	journal = "IEEE Robotics and Automation Letters",
	title = "Proximal Control of UAVs With Federated Learning for Human-Robot Collaborative Domains",
	year = 2024,
	volume = 9,
	number = 12,
	pages = "11305-11312",
	doi = "10.1109/LRA.2024.3491417",
	pdf = "data/papers/Lucas_2024.pdf"
}

Akash Chaudhary, Tiago Nascimento and Martin Saska. Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO. 2024, 26-35. PDF, DOI BibTeX

@inproceedings{ICINCO_Akash,
	title = "Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework",
	author = "Akash Chaudhary and Tiago Nascimento and Martin Saska",
	doi = "10.5220/0012921300003822",
	booktitle = "Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO",
	pages = "26-35",
	year = 2024,
	publisher = "SciTePress",
	organization = "INSTICC",
	pdf = "data/papers/ICINCO_Akash.pdf"
}

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"
}