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Email:
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Position:
PhD student
Room:
KN:E-118
     
Education:  
2019 - Ing. (=M.Sc.) Cybernetics and Robotics, FEE, Czech Technical University in Prague, supervisor M. Saska
  Diploma thesis: Design, localization and position control of a specialized UAV platform for documentation of historical monuments (Dean's price for astounding work)
     
Current projects:   NAKI II - Dron & monument (2018-now)
DARPA SubT (2019-now)
DOFEC (2020-now)
GACR-Swarms (2017-now)
     
Research Interest:   Unmanned Aerial VehiclesMulti-robot systems, Perception-degraded laser-based SLAM
ORCID:   ORCID iD iconorcid.org/0000-0002-0887-9430
     
Journal publications:  
  1. 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"
    }
    
  2. Pavel Petráček, Viktor Walter, Tomáš Báča and Martin Saska. Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization. Bioinspiration & Biomimetics 16(2):026009, December 2020. PDF, DOI BibTeX

    @article{petracek2020swarms,
    	author = "Pavel Petr{\'{a}}{\v{c}}ek and Viktor Walter and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
    	title = "{Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization}",
    	journal = "Bioinspiration {\&} Biomimetics",
    	year = 2020,
    	month = "dec",
    	publisher = "{IOP} Publishing",
    	volume = 16,
    	number = 2,
    	pages = 026009,
    	doi = "https://doi.org/10.1088/1748-3190/abc6b3",
    	pdf = "data/papers/BB20swarm.pdf"
    }
    
  3. 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"
    }
    
  4. Filip Novák, Viktor Walter, Pavel Petráček, Tomáš Báča and Martin Saska. Fast collective evasion in self-localized swarms of unmanned aerial vehicles. Bioinspiration & Biomimetics 16(6):066025, November 2021. URL, DOI BibTeX

    @article{novak2021predator,
    	author = "Filip Nov{\'{a}}k and Viktor Walter and Pavel Petr{\'{a}}{\v{c}}ek and Tom{\'{a}}{\v{s}} B{\'{a}}{\v{c}}a and Martin Saska",
    	title = "{Fast collective evasion in self-localized swarms of unmanned aerial vehicles}",
    	journal = "Bioinspiration {\&} Biomimetics",
    	year = 2021,
    	month = "nov",
    	publisher = "{IOP} Publishing",
    	volume = 16,
    	number = 6,
    	pages = 066025,
    	doi = "10.1088/1748-3190/ac3060",
    	url = "https://doi.org/10.1088/1748-3190/ac3060"
    }
    
  5. 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 = "https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22021",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.22021"
    }
    
  6. 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"
    }
    
  7. 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"
    }
    
Conference publications:  
  1. Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Vrba Matous, 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. PDF BibTeX

    @inproceedings{MRS2022ICUAS_HW,
    	author = "{Hert}, Daniel and {Baca}, Tomas and {Petracek}, Pavel and {Kratky}, Vit and {Spurny}, Vojtech and {Petrlik}, Matej and {Matous}, Vrba 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"
    }
    
  2. A Ahmad, V Walter, P Petracek, M Petrlik, T Baca, D Zaitlik and M Saska. Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density. In 2021 IEEE International Conference on Robotics and Automation (ICRA). June 2021, 570–576. PDF, DOI BibTeX

    @inproceedings{afzal2021Icra,
    	author = "A. {Ahmad} and V. {Walter} and P. {Petracek} and M. {Petrlik} and T. {Baca} and D. {Zaitlik} and M. {Saska}",
    	booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
    	title = "{Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density}",
    	month = "June",
    	year = 2021,
    	pages = "570--576",
    	organization = "IEEE",
    	doi = "10.1109/ICRA48506.2021.9561284",
    	pdf = "data/papers/afzal2021Icra.pdf"
    }
    
  3. Thulio Amorim, Tiago Nascimento, Pavel Petracek, Giulia Masi, Eliseo Ferrante and Martin Saska. Self-Organized UAV Flocking Based on Proximal Control. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS) (). July 2021, 1374–1382. PDF, DOI BibTeX

    @inproceedings{amorim2021icuas,
    	author = "Amorim, Thulio and Nascimento, Tiago and Petracek, Pavel and de Masi, Giulia and Ferrante, Eliseo and Saska, Martin",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "Self-Organized UAV Flocking Based on Proximal Control",
    	year = 2021,
    	month = "July",
    	volume = "",
    	number = "",
    	pages = "1374--1382",
    	doi = "10.1109/ICUAS51884.2021.9476847",
    	pdf = "https://ieeexplore.ieee.org/document/9476847"
    }
    
Workshops:  
  1. P Petráček and M Saska. Decentralized Aerial Swarms Using Vision-Based Mutual Localization. In IEEE IROS (Second Workshop on Multi-robot Perception-Driven Control and Planning). 2018. BibTeX

    @inproceedings{iros2018petracek,
    	author = "P. {Petr\'{a}\v{c}ek} and M. {Saska}",
    	title = "{Decentralized Aerial Swarms Using Vision-Based Mutual Localization}",
    	year = 2018,
    	booktitle = "{IEEE IROS (Second Workshop on Multi-robot Perception-Driven Control and Planning)}"
    }
    
     
Supervised Bc. theses: