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Phone:
+420-22435-5766
Email:
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Position:
PhD student
Room:
KN:E-123
Education:   2015 - Ing. (=M.Sc.) Artificial Intelligence, FEE, Czech Technical University in Prague, supervisor M. Saska
     
Current projects:   GACR-Swarms (2017-now)
    Cesnet (2016-now)
    VZLUSAT-1 (2013-now)
     
Past projects:   MBZIRC 17 (2016-2017)
    COLOS (2013)
     
Research Interest:   Unmanned Aerial VehiclesMulti-robot systems, Radiation imaging
     
Research stays:   2016 - University of Pennsylvania, USA - GRASP lab
    2018 - University of Pennsylvania, USA - GRASP lab
     
Supervised Theses:  
M.Sc.:
Martin Jílek - Processing of Radiation Data from the Timepix Sensor on the VZLUSAT-1 Satellite [pdf]
Daniel Heřt - Autonomous Predictive Interception of a Flying Target by an Unmanned Aerial Vehicle [pdf]
Bc.:
Jan Machálek - Automatic Control of an Unmanned Aerial Vehicle in Robot Operating System [pdf]
Jiří Horyna - Robotic Manipulation Onboard an Unmanned Aerial Vehicle [pdf]
     
Publications:  
  1. 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. 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 = ""
    }
    
  2. T Baca, M Jilek, I Vertat, M Urban, O Nentvich, R Filgas, C Granja, A Inneman and V Daniel. Timepix in LEO Orbit onboard the VZLUSAT-1 Nanosatellite: 1-year of Space Radiation Dosimetry Measurements. Journal of Instrumentation 13(11):C11010, 2018. URL PDF BibTeX

    @article{baca2018vzlusat,
    	author = "T. Baca and M. Jilek and I. Vertat and M. Urban and O. Nentvich and R. Filgas and C. Granja and A. Inneman and V. Daniel",
    	title = "Timepix in LEO Orbit onboard the VZLUSAT-1 Nanosatellite: 1-year of Space Radiation Dosimetry Measurements",
    	journal = "Journal of Instrumentation",
    	volume = 13,
    	number = 11,
    	pages = "C11010",
    	url = "http://stacks.iop.org/1748-0221/13/i=11/a=C11010",
    	pdf = "data/papers/jinst_2018_vzlusat.pdf",
    	year = 2018
    }
    
  3. T Baca, D Turecek, R McEntaffer and R Filgas. Rospix: modular software tool for automated data acquisitions of Timepix detectors on Robot Operating System. Journal of Instrumentation 13(11):C11008, 2018. URL PDF BibTeX

    @article{baca2018rospix,
    	author = "T. Baca and D. Turecek and R. McEntaffer and R. Filgas",
    	title = "Rospix: modular software tool for automated data acquisitions of Timepix detectors on Robot Operating System",
    	journal = "Journal of Instrumentation",
    	volume = 13,
    	number = 11,
    	pages = "C11008",
    	pdf = "data/papers/jinst_2018_rospix.pdf",
    	url = "http://stacks.iop.org/1748-0221/13/i=11/a=C11008",
    	year = 2018
    }
    
  4. V Spurny, T Baca, Martin Saska, R Penicka, T Krajnik, J Thomas, T Dinesh, G Loianno and V Kumar. Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles. Journal of Field Robotics, 2018. URL, DOI BibTeX

    @article{spurny_jfr18,
    	author = "Spurny, V and Baca, T and Saska, Martin and Penicka, R and Krajnik, T and Thomas, J and T Dinesh and Loianno, G and Kumar, V",
    	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",
    	year = 2018,
    	doi = "10.1002/rob.21816",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21816"
    }
    
  5. T Baca, D Hert, G Loianno, M Saska and V Kumar. Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018, 1-8. PDF BibTeX

    @inproceedings{baca2018mpc,
    	title = "Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles",
    	author = "Baca, T and Hert, D and Loianno, G and Saska, M and Kumar, V",
    	booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    	pages = "1-8",
    	year = 2018,
    	pdf = "data/papers/iros_2018_mpc.pdf",
    	organization = "IEEE"
    }
    
  6. 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/"
    }
    
  7. M Saska, V Kratky, V Spurny and T Baca. Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control. In 2017 IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). 2017, 1-8. URL BibTeX

    @inproceedings{saska_etfa17,
    	author = "M. Saska and V. Kratky and V. Spurny and T. Baca",
    	booktitle = "2017 IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	title = "Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control",
    	year = 2017,
    	pages = "1-8",
    	month = "Sept",
    	url = "http://ieeexplore.ieee.org/document/8247654/"
    }
    
  8. J Faigl, P Vana, M Saska, T Baca and V Spurny. On solution of the Dubins touring problem. In 2017 IEEE European Conference on Mobile Robots (ECMR). 2017, 1-6. URL BibTeX

    @inproceedings{fajgl_ecmr17,
    	author = "J. Faigl and P. Vana and M. Saska and T. Baca and V. Spurny",
    	booktitle = "2017 IEEE European Conference on Mobile Robots (ECMR)",
    	title = "On solution of the Dubins touring problem",
    	year = 2017,
    	pages = "1-6",
    	url = "http://ieeexplore.ieee.org/document/8098685/"
    }
    
  9. T Baca, P Stepan and M Saska. Autonomous Landing On A Moving Car With Unmanned Aerial Vehicle. In 2017 IEEE The European Conference on Mobile Robotics (ECMR). 2017. PDF BibTeX

    @inproceedings{ecmr17_mbzirc_landing,
    	author = "T. Baca and P. Stepan and M. Saska",
    	title = "Autonomous Landing On A Moving Car With Unmanned Aerial Vehicle",
    	booktitle = "2017 IEEE The European Conference on Mobile Robotics (ECMR)",
    	year = 2017,
    	organization = "IEEE",
    	pdf = "data/papers/ecmr_2017_landing.pdf"
    }
    
  10. M Urban, O Nentvich, V Stehlikova, T Baca, V Daniel and R Hudec. VZLUSAT-1: Nanosatellite with miniature lobster eye X-ray telescope and qualification of the radiation shielding composite for space application. Acta Astronautica 140:96–104, 2017. BibTeX

    @article{urban2017vzlusat,
    	title = "VZLUSAT-1: Nanosatellite with miniature lobster eye X-ray telescope and qualification of the radiation shielding composite for space application",
    	author = "M. Urban and O. Nentvich and V. Stehlikova and T. Baca and V. Daniel and R. Hudec",
    	journal = "Acta Astronautica",
    	volume = 140,
    	pages = "96--104",
    	year = 2017,
    	publisher = "Elsevier"
    }
    
  11. T Baca, M Platkevic, J Jakubek, A Inneman, V Stehlikova, M Urban, O Nentvich, M Blazek, R McEntaffer and V Daniel. Miniaturized X-ray telescope for VZLUSAT-1 nanosatellite with Timepix detector. Journal of Instrumentation 11(10):C10007, 2016. URL PDF BibTeX

    @article{1748-0221-11-10-C10007,
    	author = "T. Baca and M. Platkevic and J. Jakubek and A. Inneman and V. Stehlikova and M. Urban and O. Nentvich and M. Blazek and R. McEntaffer and V. Daniel",
    	title = "Miniaturized X-ray telescope for VZLUSAT-1 nanosatellite with Timepix detector",
    	journal = "Journal of Instrumentation",
    	volume = 11,
    	number = 10,
    	pages = "C10007",
    	url = "http://stacks.iop.org/1748-0221/11/i=10/a=C10007",
    	year = 2016,
    	pdf = "data/papers/iworid_2016_tomas_baca.pdf"
    }
    
  12. T Baca, G Loianno and M Saska. Embedded Model Predictive Control of Unmanned Micro Aerial Vehicles. In 2016 IEEE International Conference on Methods and Models in Automation and Robotics (MMAR). 2016. PDF, DOI BibTeX

    @inproceedings{baca2016embedded,
    	author = "Baca, T. and Loianno, G. and Saska, M.",
    	title = "Embedded Model Predictive Control of Unmanned Micro Aerial Vehicles",
    	booktitle = "2016 IEEE International Conference on Methods and Models in Automation and Robotics (MMAR)",
    	address = "Miedzyzdroje, Poland",
    	year = 2016,
    	language = "English",
    	pdf = "data/papers/mmar_2018_mpc.pdf",
    	doi = "10.1109/MMAR.2016.7575273"
    }
    
  13. V Spurny, T Baca and M Saska. Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control. In 2016 IEEE International Conference on Methods and Models in Automation and Robotics (MMAR). August 2016, 998-1003. URL PDF, DOI BibTeX

    @inproceedings{spurny_mmar16,
    	author = "V. Spurny and T. Baca and M. Saska",
    	booktitle = "2016 IEEE International Conference on Methods and Models in Automation and Robotics (MMAR)",
    	title = "Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control",
    	year = 2016,
    	pages = "998-1003",
    	keywords = "autonomous aerial vehicles;collision avoidance;microrobots;mobile robots;motion control;aerial robots;collision free motion;complex manoeuvres;ground robots;heterogeneous MAV-UGV formations;microaerial vehicles;model predictive control;motion planning;stabilization approach;unmanned aerial vehicles; vehicles;virtual-leader-follower approach;Planning;Robot kinematics;Shape;Switches;Trajectory",
    	doi = "10.1109/MMAR.2016.7575274",
    	month = "Aug",
    	url = "http://ieeexplore.ieee.org/document/7575274/",
    	pdf = "data/papers/vojtech_spurny_mmar16.pdf"
    }
    
  14. V Daniel, L Pina, A Inneman, V Zadrazil, T Baca, M Platkevic, V Stehlikova, O Nentvich and M Urban. Terrestrial gamma-ray flashes monitor demonstrator on CubeSat. In SPIE: CubeSats and NanoSats for Remote Sensing. 2016. URL, DOI BibTeX

    @inproceedings{daniel2016gamma,
    	author = "Daniel, V. and Pina, L. and Inneman, A. and Zadrazil, V. and Baca, T. and Platkevic, M. and Stehlikova, V. and Nentvich, O. and Urban, M.",
    	title = "Terrestrial gamma-ray flashes monitor demonstrator on CubeSat",
    	booktitle = "{SPIE:} CubeSats and NanoSats for Remote Sensing",
    	year = 2016,
    	address = "San Diego, California, United States",
    	language = "English",
    	url = "http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=2555713",
    	doi = "10.1117/12.2240299"
    }
    
  15. L Pina, R Hudec, A Inneman, T Baca, M Blazek, M Platkevic, L Sieger, D Doubravova, R McEntaffer, T Schultz and V Daniel. Development and tests of x-ray multifoil optical system for 1D imaging. In SPIE: Advances in Laboratory-based X-Ray Sources, Optics, and Applications V. 2016. URL, DOI BibTeX

    @inproceedings{Pina2016multifoil,
    	author = "Pina, L. and Hudec, R. and Inneman, A. and Baca, T. and Blazek, M. and Platkevic, M. and Sieger, L. and Doubravova, D. and McEntaffer, R. and Schultz, T. and Daniel, V.",
    	title = "Development and tests of x-ray multifoil optical system for 1D imaging",
    	booktitle = "{SPIE:} Advances in Laboratory-based X-Ray Sources, Optics, and Applications V",
    	year = 2016,
    	address = "San Diego, California, United States",
    	language = "English",
    	doi = "10.1117/12.2243055",
    	url = "http://proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=2580234"
    }
    
  16. M Saska, T Baca, J Thomas, J Chudoba, L Preucil, T Krajnik, J Faigl, G Loianno and V Kumar. System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization. Autonomous Robots, 2016. PDF BibTeX

    @article{SaskaAURO16,
    	author = "Saska, M. and Baca, T. and Thomas, J. and Chudoba, J. and Preucil, L. and Krajnik, T. and Faigl, J. and Loianno, G. and Kumar, V.",
    	title = "{System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization}",
    	journal = "Autonomous Robots",
    	year = 2016,
    	pdf = "data/papers/AURO2016.pdf"
    }
    
  17. J Chudoba, M Kulich, M Saska, T Baca and L Preucil. Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs. Journal of Intelligent & Robotic Systems, pages 1-19, 2016. URL BibTeX

    @article{chudoba2016exploration,
    	author = "Chudoba, J. and Kulich, M. and Saska, M. and Baca, T. and Preucil, L.",
    	title = "{Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs}",
    	journal = "Journal of Intelligent & Robotic Systems",
    	year = 2016,
    	pages = "1-19",
    	language = "English",
    	url = "http://link.springer.com/article/10.1007/s10846-016-0358-8"
    }
    
  18. J Chudoba, M Saska, T Baca and L Preucil. Localization and stabilization of micro aerial vehicles based on visual features tracking. In 2014 IEEE International Conference on Unmanned Aircraft Systems (ICUAS) 1. 2014, 611–616. URL PDF BibTeX

    @inproceedings{Chudoba14:224905,
    	author = "Chudoba, J. and Saska, M. and Baca, T. and Preucil, L.",
    	title = "{Localization and stabilization of micro aerial vehicles based on visual features tracking}",
    	booktitle = "{2014 IEEE International Conference on Unmanned Aircraft Systems (ICUAS)}",
    	publisher = "IEEE Computer society",
    	address = "Danvers",
    	year = 2014,
    	volume = 1,
    	pages = "611--616",
    	isbn = "978-1-4799-2376-2",
    	language = "English",
    	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6842304",
    	pdf = "data/papers/JCH_ICUAS2014.pdf"
    }
    
  19. M Saska, V Vonasek, T Baca and L Preucil. Ad-hoc Heterogeneous (MAV-UGV) Formations Stabilized Under a Top-View Relative Localization. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2013. BibTeX

    @inproceedings{Saska13:210720,
    	author = "Saska, M. and Vonasek, V. and Baca, T. and Preucil, L.",
    	title = "{Ad-hoc Heterogeneous (MAV-UGV) Formations Stabilized Under a Top-View Relative Localization}",
    	booktitle = "{2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}",
    	publisher = "IEEE",
    	address = "Piscataway",
    	year = 2013,
    	language = "English"
    }