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Phone:
+420-22435-7384
Email:
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Position:
PhD student
Room:
KN:E-121

 

Education:   2016 Ing. (=M.Sc.) in Cybernetics and robotics
Teaching:   Řešení problémů a hry
Research Interest:   motion planning, multi-robot monitoring and coverage
ORCID:   ORCID iD iconorcid.org/0000-0001-8549-4932
Publications:  
  1. Robert Pěnička, Jan Faigl and Martin Saska. Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles. IEEE Robotics and Automation Letters 4(3):3005-3012, July 2019. PDF, DOI BibTeX

    @article{penicka_ral_pop_19,
    	author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles",
    	year = 2019,
    	volume = 4,
    	number = 3,
    	pages = "3005-3012",
    	keywords = "Planning;Robots;Optimization;Path planning;Routing;Data collection;Unmanned aerial vehicles;Motion and Path Planning;Aerial Systems: Applications",
    	doi = "10.1109/LRA.2019.2923949",
    	issn = "2377-3766",
    	month = "July",
    	pdf = "http://mrs.felk.cvut.cz/data/papers/penicka_ral_2019_vns_prm_pop.pdf"
    }
    
  2. Robert Pěnička, Jan Faigl and Martin Saska. Variable Neighborhood Search for the Set Orienteering Problem and its application to other Orienteering Problem variants. European Journal of Operational Research 276(3):816 - 825, 2019. URL PDF, DOI BibTeX

    @article{penicka_ejor_2019_vns_sop,
    	author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska",
    	title = "Variable Neighborhood Search for the Set Orienteering Problem and its application to other Orienteering Problem variants",
    	journal = "European Journal of Operational Research",
    	volume = 276,
    	number = 3,
    	pages = "816 - 825",
    	year = 2019,
    	issn = "0377-2217",
    	doi = "10.1016/j.ejor.2019.01.047",
    	url = "http://www.sciencedirect.com/science/article/pii/S0377221719300827",
    	pdf = "data/papers/penicka_ejor_2019_vns_sop.pdf"
    }
    
  3. Robert Pěnička, Jan Faigl, Martin Saska and Petr Váňa. Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle. Autonomous Robots, February 2019. URL PDF, DOI BibTeX

    @article{penicka_auro_2019_vns_dopn,
    	author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska and Petr V{\'a}{\v{n}}a",
    	title = "Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle",
    	journal = "Autonomous Robots",
    	year = 2019,
    	month = "Feb",
    	day = 23,
    	issn = "1573-7527",
    	doi = "10.1007/s10514-019-09844-5",
    	url = "https://doi.org/10.1007/s10514-019-09844-5",
    	pdf = "data/papers/penicka_auro_2019_vns_dopn.pdf"
    }
    
  4. Jan Faigl, Petr Váňa, Robert Pěnička and Martin Saska. Unsupervised learning-based flexible framework for surveillance planning with aerial vehicles. Journal of Field Robotics. URL, DOI BibTeX

    @article{mbzirc_som_surveillance,
    	author = "Faigl, Jan and Váňa, Petr and Pěnička, Robert and Saska, Martin",
    	title = "Unsupervised learning-based flexible framework for surveillance planning with aerial vehicles",
    	journal = "Journal of Field Robotics",
    	keywords = "aerial robotics, computing architectures, planning",
    	doi = "10.1002/rob.21823",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21823"
    }
    
  5. T Baca, P Stepan, V Spurny, D Hert, R Penicka, M Saska, J Thomas, G Loianno and V Kumar. Autonomous Landing on a Moving Vehicle with an Unmanned Aerial Vehicle. Journal of Field Robotics, 2018. URL, DOI BibTeX

    @article{baca_jfr18,
    	author = "T. Baca and P. Stepan and V. Spurny and D. Hert and R. Penicka and M. Saska and J. Thomas and G. Loianno and V. Kumar",
    	title = "Autonomous Landing on a Moving Vehicle with an Unmanned Aerial Vehicle",
    	journal = "Journal of Field Robotics",
    	keywords = "aerial robotics, control, planning, position estimation",
    	year = 2018,
    	doi = "10.1002/rob.21858",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21858"
    }
    
  6. Vojtěch Spurný, Tomáš Báča, Martin Saska, Robert Pěnička, Tomáš Krajník, Justin Thomas, Dinesh Thakur, Giuseppe Loianno and Vijay Kumar. Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles. Journal of Field Robotics. URL, DOI BibTeX

    @article{mbzirc_treasure_hunt,
    	author = "Spurný, Vojtěch and Báča, Tomáš and Saska, Martin and Pěnička, Robert and Krajník, Tomáš and Thomas, Justin and Thakur, Dinesh and Loianno, Giuseppe and Kumar, Vijay",
    	title = "Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles",
    	journal = "Journal of Field Robotics",
    	keywords = "aerial robotics, cooperative robots, mobile manipulation, planning",
    	doi = "10.1002/rob.21816",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21816"
    }
    
  7. G Loianno, V Spurny, T Baca, J Thomas, D Thakur, D Hert, R Penicka, T Krajnik, A Zhou, A Cho, M Saska and V Kumar. Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments. IEEE Robotics and Automation Letters, 2018. URL PDF BibTeX

    @article{MBZIRC_magnetic_grasping,
    	title = "Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments",
    	author = "G. Loianno and V. Spurny and T. Baca and J. Thomas and D. Thakur and D. Hert and R. Penicka and T. Krajnik and A. Zhou and A. Cho and M. Saska and V. Kumar",
    	note = "(accepted to RA-L and ICRA)",
    	journal = "IEEE Robotics and Automation Letters",
    	year = 2018,
    	pdf = "data/papers/ral_2018_grasping.pdf",
    	url = "http://ieeexplore.ieee.org/document/8276269/"
    }
    
  8. 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, 5646-5652. BibTeX

    @inproceedings{faigl17iros_cedop,
    	title = "On Close Enough Orienteering Problem with Dubins Vehicle",
    	author = "Jan Faigl and Robert P\v{e}ni\v{c}ka",
    	booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    	year = 2017,
    	pages = "5646-5652"
    }
    
  9. 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 PDF BibTeX

    @inproceedings{penicka_ecmr_rdtsp,
    	author = "Robert P\v{e}ni\v{c}ka 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",
    	pdf = "data/papers/penicka2017ecmr.pdf"
    }
    
  10. 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 V\'{a}\v{n}a and Jan Faigl and Jakub Sl\'{a}ma and Robert P\v{e}ni\v{c}ka",
    	title = "Data Collection Planning with Dubins Airplane Model and Limited Travel Budget",
    	booktitle = "European Conference of Mobile Robotics (ECMR)",
    	year = 2017,
    	pages = "328-333"
    }
    
  11. 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. PDF BibTeX

    @inproceedings{penicka_icuas_dopn,
    	author = "Robert P\v{e}ni\v{c}ka and Jan Faigl and Petr V\'{a}\v{n}a and Martin Saska",
    	booktitle = "2017 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "Dubins orienteering problem with neighborhoods",
    	year = 2017,
    	pages = "1555-1562",
    	pdf = "data/papers/penicka2017icuas.pdf",
    	month = "June"
    }
    
  12. 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_17,
    	author = "Robert P\v{e}ni\v{c}ka and Jan Faigl and Petr V\'{a}\v{n}a and Martin Saska",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "Dubins Orienteering Problem",
    	year = 2017,
    	volume = 2,
    	number = 2,
    	pages = "1210-1217",
    	url = "http://mrs.felk.cvut.cz/icra17dop",
    	doi = "10.1109/LRA.2017.2666261",
    	issn = "2377-3766",
    	month = "April",
    	pdf = "data/papers/ral2017dop.pdf"
    }
    
  13. D Zahrádka, \textbf R. Pěnička and M Saska. Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint. In Modelling and Simulation for Autonomous Systems. 2019, 365–389. BibTeX

    @inproceedings{Zahradka_DTOPN,
    	author = "D. Zahr{\'a}dka and \textbf{R. P{\v{e}}ni{\v{c}}ka} and M. Saska",
    	title = "Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint",
    	booktitle = "Modelling and Simulation for Autonomous Systems",
    	year = 2019,
    	pages = "365--389"
    }
    
  14. A Dubeň, \textbf R. Pěnička and M Saska. Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight. In Modelling and Simulation for Autonomous Systems. 2019, 172–201. BibTeX

    @inproceedings{Duben_HOP,
    	author = "A. Dube{\v{n}} and \textbf{R. P{\v{e}}ni{\v{c}}ka} and M. Saska",
    	title = "Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight",
    	booktitle = "Modelling and Simulation for Autonomous Systems",
    	year = 2019,
    	pages = "172--201"
    }
    
  15. 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 P\v{e}ni\v{c}ka 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",
    	doi = "10.1109/SMC.2016.7844421",
    	month = "Oct"
    }
    
  16. 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",
    	doi = "10.1109/RoMoCo.2015.7219710",
    	month = "July",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219710",
    	pdf = "data/papers/romoco2015-rcaas.pdf"
    }