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Phone:
+420-22435-7395
Email:
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Position:
Post-doc researcher
Room:
KN:E-116

 

Current Projects:   Symbrion and Replicator
Research Interest:  

Motion planning , SLAM, Formal Methods, Safety Critical Systems,

Education:  

2005 - RNDr. from Theoretical Informatics, Charles University, Faculty of Mathematics and Physics

2002 Ph.D. from Artifical Intelligence and Biocybernetics, Czech Technical University, Faculty of Electrical Engineering

1994 - Mgr. from Theoretical Informatics, Charles University, Faculty of Mathematics and Physics

Teaching:  

Current

A4B33OSS and AE4B33OSS Operating systems and newtworks

A3B33OSD and AE3B33OSD Operating Systems and Databases

Publications:  
  1. Vaclav Pritzl, Matous Vrba, Petr Stepan and Martin Saska. Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022. PDF BibTeX

    @inproceedings{pritzl2022icuas,
    	author = "{Pritzl}, Vaclav and {Vrba}, Matous and {Stepan}, Petr and {Saska}, Martin",
    	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization}",
    	year = 2022,
    	month = "June",
    	organization = "IEEE",
    	pdf = "data/papers/ICUAS22_Pritzl.pdf"
    }
    
  2. 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, 1264–1273. PDF, DOI 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",
    	pages = "1264--1273",
    	doi = "10.1109/ICUAS54217.2022.9836083"
    }
    
  3. Vít Krátký, Alfonso Alcántara, Jesús Capitán, Petr Štěpán, Martin Saska and Aníbal Ollero. Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7580-7587, October 2021. PDF, DOI BibTeX

    @article{kratky2021aerialfilming,
    	author = "{Krátký}, Vít and {Alcántara}, Alfonso and {Capitán}, Jesús and {Štěpán}, Petr and {Saska}, Martin and {Ollero}, Aníbal",
    	title = "{Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles}",
    	journal = "IEEE Robotics and Automation Letters",
    	year = 2021,
    	month = "October",
    	pdf = "data/papers/aerialCinematographyRal.pdf",
    	doi = "10.1109/LRA.2021.3098811",
    	pages = "7580-7587",
    	volume = 6,
    	number = 4
    }
    
  4. V Pritzl, P Stepan and M Saska. Autonomous Flying into Buildings in a Firefighting Scenario. In 2021 IEEE International Conference on Robotics and Automation (ICRA). May 2021, 239–245. PDF, DOI BibTeX

    @inproceedings{pritzl2021icra,
    	author = "V. {Pritzl} and P. {Stepan} and M. {Saska}",
    	booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
    	title = "Autonomous Flying into Buildings in a Firefighting Scenario",
    	year = 2021,
    	month = "May",
    	pages = "239--245",
    	organization = "IEEE",
    	doi = "10.1109/ICRA48506.2021.9560789",
    	pdf = "data/papers/pritzl2021icra.pdf"
    }
    
  5. V Spurny, V Pritzl, V Walter, M Petrlik, T Baca, P Stepan, D Zaitlik and M Saska. Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle. IEEE Access 9:15872-15890, January 2021. PDF, DOI BibTeX

    @article{spurny2021autonomous,
    	author = "V. Spurny and V. Pritzl and V. Walter and M. Petrlik and T. Baca and P. Stepan and D. Zaitlik and M. Saska",
    	journal = "IEEE Access",
    	title = "{Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle}",
    	year = 2021,
    	volume = 9,
    	month = "January",
    	pages = "15872-15890",
    	doi = "10.1109/ACCESS.2021.3052967",
    	pdf = "data/papers/spurny2021autonomous.pdf"
    }
    
  6. P Štěpán, T Krajnik, M Petrlik and M Saska. Vision techniques for on-board detection, following and mapping of moving targets. Journal of Field Robotics 36(1):252-269, 2019. PDF BibTeX

    @article{stepan2019jfr,
    	author = "P. Štěpán and T. Krajnik and M. Petrlik and M. Saska",
    	title = "{Vision techniques for on-board detection, following and mapping of moving targets}",
    	pages = "252-269",
    	volume = 36,
    	number = 1,
    	journal = "Journal of Field Robotics",
    	year = 2019,
    	pdf = "data/papers/stepan2019jfr.pdf"
    }
    
  7. T Baca, P Stepan and M Saska. Autonomous landing on a moving car with unmanned aerial vehicle. In 2017 European Conference on Mobile Robots (ECMR). 2017, 1-6. DOI BibTeX

    @inproceedings{baca_ecmr_17,
    	author = "T. {Baca} and P. {Stepan} and M. {Saska}",
    	booktitle = "2017 European Conference on Mobile Robots (ECMR)",
    	title = "Autonomous landing on a moving car with unmanned aerial vehicle",
    	year = 2017,
    	pages = "1-6",
    	doi = "10.1109/ECMR.2017.8098700",
    	month = "Sep."
    }
    
  8. Tomas Baca, Petr Stepan, Vojtech Spurny, Daniel Hert, Robert Penicka, Martin Saska, Justin Thomas, Giuseppe Loianno and Vijay Kumar. Autonomous landing on a moving vehicle with an unmanned aerial vehicle. Journal of Field Robotics 36(5):874-891, 2019. URL, DOI BibTeX

    @article{baca_mbzirc_2019,
    	author = "Baca, Tomas and Stepan, Petr and Spurny, Vojtech and Hert, Daniel and Penicka, Robert and Saska, Martin and Thomas, Justin and Loianno, Giuseppe and Kumar, Vijay",
    	title = "Autonomous landing on a moving vehicle with an unmanned aerial vehicle",
    	journal = "Journal of Field Robotics",
    	volume = 36,
    	number = 5,
    	pages = "874-891",
    	doi = "10.1002/rob.21858",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21858",
    	year = 2019
    }
    
  9. Martin Saska, Tomá\v Bá\v ca, Vojt\v Spurný, Giuseppe Loianno, Justin Thomas, Tomá\v Krajník, Petr Stepan and Vijay Kumar. Vision-based high-speed autonomous landing and cooperative objects grasping - towards the MBZIRC competition. In RSJ conference on Intelligent Robots and Systems. October 2016. BibTeX

    @inproceedings{saska2016vision,
    	title = "Vision-based high-speed autonomous landing and cooperative objects grasping - towards the MBZIRC competition",
    	author = "Martin Saska and Tom{\'a}{\v s} B{\'a}{\v c}a and Vojt{\v e}ch Spurn{\'y} and Giuseppe Loianno and Justin Thomas and Tom{\'a}{\v s} Krajn{\'i}k and Petr Stepan and Vijay Kumar",
    	year = 2016,
    	month = "Oct",
    	language = "English (US)",
    	booktitle = "RSJ conference on Intelligent Robots and Systems",
    	publisher = "IEEE"
    }
    
  10. P Levi, E Meister, A C Rossum, T Krajnik, V Vonásek, P Stepan, W Liu and F Caparrelli. A cognitive architecture for modular and self-reconfigurable robots. In 2014 IEEE International Systems Conference Proceedings. March 2014, 465-472. BibTeX

    @inproceedings{levi_replicator_14,
    	author = "P. {Levi} and E. {Meister} and A. C. {van Rossum} and T. {Krajnik} and V. {Vonásek} and P. {Stepan} and W. {Liu} and F. {Caparrelli}",
    	booktitle = "2014 IEEE International Systems Conference Proceedings",
    	title = "A cognitive architecture for modular and self-reconfigurable robots",
    	year = 2014,
    	pages = "465-472",
    	month = "March"
    }
    
  11. Miroslav Kulich, Milan Rollo, Roman Mazl, Jan Chudoba, Petr Benda, Libor Přeučil and Michal Pěchouček. Multi-robot exploration using multi-agent approach. In Robotics and Applications and Telematics. 2007. BibTeX

    @inproceedings{kulich2007multi,
    	title = "Multi-robot exploration using multi-agent approach",
    	author = "Kulich, Miroslav and Rollo, Milan and Mazl, Roman and Chudoba, Jan and Benda, Petr and Přeučil, Libor and Pěchouček, Michal",
    	year = 2007,
    	booktitle = "Robotics and Applications and Telematics"
    }
    
  12. J Faigl, T Krajnik, M Saska, P Stepan and M Kulich. Reasoning and planning for robotsoccer. VDI BERICHTE 1956:155, 2006. BibTeX

    @article{faigl2006reasoning,
    	title = "Reasoning and planning for robotsoccer",
    	author = "Faigl, J and Krajnik, T and Saska, M and Stepan, P and Kulich, M",
    	journal = "VDI BERICHTE",
    	volume = 1956,
    	pages = 155,
    	year = 2006,
    	publisher = "VDI; 1999"
    }
    
  13. A Plascencia and P Stepan. Sensor Data Fusion. In Proceedings of the Ieee Systems, Man and Cybernetics Society 5083. 2006, 20 – 25. BibTeX

    @inproceedings{plascencia_smc_06,
    	author = "A. Plascencia and P. {Stepan}",
    	title = "Sensor Data Fusion",
    	volume = 5083,
    	booktitle = "Proceedings of the Ieee Systems, Man and Cybernetics Society",
    	pages = "20 -- 25",
    	year = 2006
    }
    
  14. P Stepan, M Kulich and L Preucil. Robust data fusion with occupancy grid. IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) 35(1):106-115, February 2005. DOI BibTeX

    @article{stepan_tsmc_05,
    	author = "P. {Stepan} and M. {Kulich} and L. {Preucil}",
    	journal = "IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)",
    	title = "Robust data fusion with occupancy grid",
    	year = 2005,
    	volume = 35,
    	number = 1,
    	pages = "106-115",
    	doi = "10.1109/TSMCC.2004.840048",
    	month = "Feb"
    }
    
  15. Petr Stepan, Libor Preucil and Miroslav Kulich. Fusion of a color camera and rangefinder data by occupancy grids. In Unmanned Ground Vehicle Technology V 5083. 2003, 164 – 172. DOI BibTeX

    @inproceedings{stepan_ugvt_03,
    	author = "Petr Stepan and Libor Preucil and Miroslav Kulich",
    	title = "{Fusion of a color camera and rangefinder data by occupancy grids}",
    	volume = 5083,
    	booktitle = "Unmanned Ground Vehicle Technology V",
    	publisher = "SPIE",
    	pages = "164 -- 172",
    	year = 2003,
    	doi = "10.1117/12.498131"
    }
    
  16. Libor Preucil, Petr Stepan, Miroslav Kulich and Roman Mázl. Towards Environment Modeling by Autonomous Mobile Systems. In Proceedings of IFIP/IEEE International Conference on Information Technology for Balanced Automation Systems in Manufacturing and Services. 2002, 509–516. BibTeX

    @inproceedings{preucil_ifip_02,
    	author = "Preucil, Libor and Stepan, Petr and Kulich, Miroslav and M\'{a}zl, Roman",
    	title = "Towards Environment Modeling by Autonomous Mobile Systems",
    	booktitle = "Proceedings of IFIP/IEEE International Conference on Information Technology for Balanced Automation Systems in Manufacturing and Services",
    	series = "BASYS '02",
    	year = 2002,
    	isbn = "1-4020-7211-2",
    	pages = "509--516"
    }
    
  17. T Hlavaty, Libor Preucil, P Stepan and S Klapka. Formal methods in development and testing of railway interlocking systems. In Proceedings of the Conference on Intelligent Methods for Quality Improvement in Industrial Practice. Prague: CTU FEE, Department of Cybernetics, The Gerstner Laboratory 1. 2002, 14–25. BibTeX

    @inproceedings{hlavaty2002formal2,
    	title = "Formal methods in development and testing of railway interlocking systems",
    	author = "Hlavaty, T and Preucil, Libor and Stepan, P and Klapka, S",
    	booktitle = "Proceedings of the Conference on Intelligent Methods for Quality Improvement in Industrial Practice. Prague: CTU FEE, Department of Cybernetics, The Gerstner Laboratory",
    	volume = 1,
    	pages = "14--25",
    	year = 2002
    }
    
  18. Tomáš Hlavat\`y, Libor Preucil, Petr Štepán and Štepán Klapka. Formal Methods in Development and Testing of Safety-Critical Systems: Railway Interlocking System. , 2002. BibTeX

    @article{hlavaty2002formal,
    	title = "Formal Methods in Development and Testing of Safety-Critical Systems: Railway Interlocking System",
    	author = "Hlavat{\`y}, Tom{\'a}{\v{s}} and Preucil, Libor and {\v{S}}tep{\'a}n, Petr and Klapka, {\v{S}}tep{\'a}n",
    	year = 2002
    }
    
  19. T Hlavaty, L Preucil and P Stepan. Case study: Formal specification and verification of railway interlocking system. In Proceedings 27th EUROMICRO Conference. 2001: A Net Odyssey. 2001, 258-263. DOI BibTeX

    @inproceedings{hlavaty_EUROMICRO_01,
    	author = "T. {Hlavaty} and L. {Preucil} and P. {Stepan}",
    	booktitle = "Proceedings 27th EUROMICRO Conference. 2001: A Net Odyssey",
    	title = "Case study: Formal specification and verification of railway interlocking system",
    	year = 2001,
    	pages = "258-263",
    	doi = "10.1109/EURMIC.2001.952462",
    	month = "Sep."
    }
    
  20. M Kulich, P Stepan and L Preucil. Feature detection and map building using ranging sensors. In Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383). October 1999, 201-206. DOI BibTeX

    @inproceedings{kulich_irsc_99,
    	author = "M. {Kulich} and P. {Stepan} and L. {Preucil}",
    	booktitle = "Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383)",
    	title = "Feature detection and map building using ranging sensors",
    	year = 1999,
    	pages = "201-206",
    	doi = "10.1109/ITSC.1999.821054",
    	month = "Oct"
    }
    
  21. P Stepan. Open control architecture for mobile robot. Proc. 14th World Congr. of IFAC, Beijing, 1999, 1999. URL BibTeX

    @article{stepan_IFAC_99,
    	author = "P. Stepan",
    	title = "Open control architecture for mobile robot",
    	journal = "Proc. 14th World Congr. of IFAC, Beijing, 1999",
    	year = 1999,
    	url = "https://ci.nii.ac.jp/naid/10018822137/en/"
    }
    
  22. L Preucil, P Stepan, M Kulich and L Kral. An intelligent service vehicle for indoor environments. In Proceedings of the 1998 IEEE International Conference on Intelligent Vehicles. 1998, 557-562. BibTeX

    @inproceedings{preucil_iciv_98,
    	author = "L. {Preucil} and P. {Stepan} and M. Kulich and L. {Kral}",
    	booktitle = "Proceedings of the 1998 IEEE International Conference on Intelligent Vehicles",
    	title = "An intelligent service vehicle for indoor environments",
    	year = 1998,
    	pages = "557-562"
    }
    
  23. L Kral, L Preucil and P Stepan. Trajectory control for an intelligent mobile robot. In Proceedings of the 1998 IEEE International Conference on Intelligent Vehicles. 1998, 551-556. BibTeX

    @inproceedings{stepan_iciv_98,
    	author = "L. {Kral} and L. {Preucil} and P. {Stepan}",
    	booktitle = "Proceedings of the 1998 IEEE International Conference on Intelligent Vehicles",
    	title = "Trajectory control for an intelligent mobile robot",
    	year = 1998,
    	pages = "551-556"
    }
    
  24. P Stepan, L Preucil and L Kral. Statistical approach to integration and interpretation of robot sensor data. In Database and Expert Systems Applications. 8th International Conference, DEXA '97. Proceedings (). 1997, 742-747. DOI BibTeX

    @inproceedings{stepan_dexa_97,
    	author = "P. {Stepan} and L. {Preucil} and L. {Kral}",
    	booktitle = "Database and Expert Systems Applications. 8th International Conference, DEXA '97. Proceedings",
    	title = "Statistical approach to integration and interpretation of robot sensor data",
    	year = 1997,
    	volume = "",
    	number = "",
    	pages = "742-747",
    	doi = "10.1109/DEXA.1997.617419",
    	month = "Sep."
    }
    
  25. L Přeučil and P Štěpán. Experiencing modeling and development of an intelligent autonomous robot. In Franz Pichler and Roberto Moreno-Díaz (eds.). Computer Aided Systems Theory –- EUROCAST'97. 1997, 324–337. BibTeX

    @inproceedings{stepan_eurocast_97,
    	author = "P{\v{r}}eu{\v{c}}il, L. and {\v{S}}t{\v{e}}p{\'a}n, P.",
    	editor = "Pichler, Franz and Moreno-D{\'i}az, Roberto",
    	title = "Experiencing modeling and development of an intelligent autonomous robot",
    	booktitle = "Computer Aided Systems Theory --- EUROCAST'97",
    	year = 1997,
    	publisher = "Springer Berlin Heidelberg",
    	address = "Berlin, Heidelberg",
    	pages = "324--337"
    }