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Phone:
+420-22435-7284
Email:
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Position:
PhD student
Room:
E-129

 

Education:   2016 Ing. (=M.Sc.) in Cybernetics and robotics
Teaching:   Řešení problémů a hry
Research Interest:   motion planning, multi-robot monitoring and coverage
Publications:  
  1. 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. BibTeX

    @inproceedings{faigl17iros_cedop,
    	title = "On Close Enough Orienteering Problem with Dubins Vehicle",
    	author = "Jan Faigl and Robert Pěnička",
    	booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    	year = 2017,
    	month = "Sept"
    }
    
  2. 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 BibTeX

    @inproceedings{penicka_ecmr_rdtsp,
    	author = "Robert Pěnička 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"
    }
    
  3. 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. BibTeX

    @inproceedings{vana_ecmr_da-op,
    	author = "Petr Váňa and Jan Faigl and Jakub Sláma and Robert Pěnička",
    	title = "Data Collection Planning with Dubins Airplane Model and Limited Travel Budget",
    	booktitle = "European Conference of Mobile Robotics (ECMR)",
    	year = 2017,
    	pages = "328-333"
    }
    
  4. 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. DOI BibTeX

    @inproceedings{penicka_icuas_dopn,
    	author = "Robert Pěnička and Jan Faigl and Petr Váňa and Martin Saska",
    	booktitle = "2017 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "Dubins orienteering problem with neighborhoods",
    	year = 2017,
    	pages = "1555-1562",
    	abstract = "In this paper, we address the Dubins Orienteering Problem with Neighborhoods (DOPN) a novel problem derived from the regular Orienteering Problem (OP). In the OP, one tries to find a maximal reward collecting path through a subset of given target locations, each with associated reward, such that the resulting path length does not exceed the specified travel budget. The Dubins Orienteering Problem (DOP) requires the reward collecting path to satisfy the curvature-constrained model of the Dubins vehicle while reaching precise positions of the target locations. In the newly introduced DOPN, the resulting path also respects the curvature constrained Dubins vehicle as in the DOP; however, the reward can be collected within a close distant neighborhood of the target locations. The studied problem is inspired by data collection scenarios for an Unmanned Aerial Vehicle (UAV), that can be modeled as the Dubins vehicle. Furthermore, the DOPN is a useful problem formulation of data collection scenarios for a UAV with the limited travel budget due to battery discharge and in scenarios where the sensoric data can be collected from a proximity of each target location. The proposed solution of the DOPN is based on the Variable Neighborhood Search method, and the presented computational results in the OP benchmarks support feasibility of the proposed approach.",
    	keywords = "Batteries;Data collection;Discharges (electric);Fault diagnosis;Traveling salesman problems;Turning;Unmanned aerial vehicles",
    	doi = "10.1109/ICUAS.2017.7991350",
    	month = "June"
    }
    
  5. 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,
    	author = "Robert Pěnička and Jan Faigl and Petr Váňa and Martin Saska",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Dubins Orienteering Problem",
    	year = 2017,
    	volume = 2,
    	number = 2,
    	pages = "1210-1217",
    	keywords = "geometry;search problems;transportation;Dubins orienteering problem;Dubins vehicle;Euclidean OP;curvature constrained vehicle;variable neighborhood search technique;Approximation algorithms;Data collection;Optimization;Planning;Traveling salesman problems;Turning;Unmanned aerial vehicles;Aerial systems: applications;motion and path planning;nonholonomic motion planning",
    	url = "http://mrs.felk.cvut.cz/icra17dop",
    	doi = "10.1109/LRA.2017.2666261",
    	issn = "2377-3766",
    	month = "April",
    	pdf = "data/papers/ral2017dop.pdf"
    }
    
  6. 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. DOI BibTeX

    @inproceedings{faigl_smc_som_opn,
    	author = "Jan Faigl and Robert Pěnička 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",
    	abstract = "In this paper, we address the Orienteering problem (OP) by the unsupervised learning of the self-organizing map (SOM). We propose to solve the OP with a new algorithm based on SOM for the Traveling salesman problem (TSP). Both problems are similar in finding a tour visiting the given locations; however, the OP stands to determine the most valuable tour that maximizes the rewards collected by visiting a subset of the locations while keeping the tour length under the specified travel budget. The proposed stochastic search algorithm is based on unsupervised learning of SOM and it constructs a feasible solution during each learning epoch. The reported results support feasibility of the proposed idea and show the performance is competitive with existing heuristics. Moreover, the key advantage of the proposed SOM-based approach is the ability to address the generalized OP with Neighborhoods, where rewards can be collected by traveling anywhere within the neighborhood of the locations. This problem generalization better fits data collection missions with wireless data transmission and it allows to save unnecessary travel costs to visit the given locations.",
    	keywords = "Conferences;Data collection;Heuristic algorithms;Robot sensing systems;Self-organizing feature maps;Traveling salesman problems",
    	doi = "10.1109/SMC.2016.7844421",
    	month = "Oct"
    }
    
  7. 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",
    	keywords = "Collision avoidance;Interpolation;Planning;Robot kinematics;Robot sensing systems;Service robots",
    	doi = "10.1109/RoMoCo.2015.7219710",
    	month = "July",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219710",
    	pdf = "data/papers/romoco2015-rcaas.pdf"
    }