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Email:
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Position:
PhD student
Room:
KN:E-123
Education:   2019 - Ing. (=M.Sc.) Cybernetics and Robotics, FEE, Czech Technical University in Prague, supervisor V. Spurný
     
Current projects:   NAKI II - Dron & monument (2018-now)
    DARPA SubT Challenge (2019-2022)
    AERIAL-CORE (2020-now)
     
Research Interest:   Unmanned Aerial VehiclesMulti-robot systems
ORCID:   ORCID iD iconorcid.org/0000-0001-8549-4932
GS profile:   Vít Krátký at Google Scholar
ResearchGate:   https://www.researchgate.net/profile/Vit-Kratky-2
Preprints:  
  1. Matej Petrlik, Pavel Petracek, Vit Kratky, Tomas Musil, Yurii Stasinchuk, Matous Vrba, Tomas Baca, Daniel Hert, Martin Pecka, Tomas Svoboda and Martin Saska. UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT. preprint arXiv:2206.08185, 2022. PDF, DOI BibTeX

    @article{petrlik2022uavs,
    	author = "Petrlik, Matej and Petracek, Pavel and Kratky, Vit and Musil, Tomas and Stasinchuk, Yurii and Vrba, Matous and Baca, Tomas and Hert, Daniel and Pecka, Martin and Svoboda, Tomas and Saska, Martin",
    	title = "{UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT}",
    	publisher = "arXiv",
    	journal = "preprint arXiv:2206.08185",
    	year = 2022,
    	doi = "10.48550/ARXIV.2206.08185",
    	pdf = "data/papers/petrlik2022fr.pdf",
    	note = "Submitted to Field Robotics Special Issue: DARPA Subterranean Challenge"
    }
    
  2. Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petráček, Matěj Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L Williams and Luca Carlone. Present and Future of SLAM in Extreme Underground Environments. preprint arXiv:2208.01787, 2022. PDF, DOI BibTeX

    @article{ebadi2022slam,
    	author = "Ebadi, Kamak and Bernreiter, Lukas and Biggie, Harel and Catt, Gavin and Chang, Yun and Chatterjee, Arghya and Denniston, Christopher E. and Deschênes, Simon-Pierre and Harlow, Kyle and Khattak, Shehryar and Nogueira, Lucas and Palieri, Matteo and Petráček, Pavel and Petrlík, Matěj and Reinke, Andrzej and Krátký, Vít and Zhao, Shibo and Agha-mohammadi, Ali-akbar and Alexis, Kostas and Heckman, Christoffer and Khosoussi, Kasra and Kottege, Navinda and Morrell, Benjamin and Hutter, Marco and Pauling, Fred and Pomerleau, François and Saska, Martin and Scherer, Sebastian and Siegwart, Roland and Williams, Jason L. and Carlone, Luca",
    	title = "Present and Future of SLAM in Extreme Underground Environments",
    	journal = "preprint arXiv:2208.01787",
    	year = 2022,
    	doi = "10.48550/ARXIV.2208.01787",
    	pdf = "https://arxiv.org/pdf/2208.01787",
    	note = "Submitted to Transactions on Robotics (T-RO)"
    }
    
Journal publications:  
  1. Jindřiška Deckerová, Jan Faigl and Vít Krátký. Traveling Salesman Problem with neighborhoods on a sphere in reflectance transformation imaging scenarios. Expert Systems with Applications 198:116814, March 2022. URL PDF, DOI BibTeX

    @article{deckerova2022tspns,
    	author = "Deckerová, Jindřiška and Faigl, Jan and Krátký, Vít",
    	title = "Traveling Salesman Problem with neighborhoods on a sphere in reflectance transformation imaging scenarios",
    	journal = "Expert Systems with Applications",
    	volume = 198,
    	pages = 116814,
    	year = 2022,
    	month = "March",
    	issn = "0957-4174",
    	doi = "10.1016/j.eswa.2022.116814",
    	url = "https://www.sciencedirect.com/science/article/pii/S0957417422002718?via=ihub",
    	pdf = "https://www.sciencedirect.com/science/article/pii/S0957417422002718?via=ihub"
    }
    
  2. 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
    }
    
  3. 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"
    }
    
  4. 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"
    }
    
  5. 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"
    }
    
  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. 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"
    }
    
  8. M Saska, D Hert, T Baca, V Kratky and T Nascimento. Formation control of unmanned micro aerial vehicles for straitened environments. Autonomous Robots 44:991-1008, 2020. PDF, DOI BibTeX

    @article{saska2020formation,
    	author = "Saska, M. and Hert, D. and Baca, T. and Kratky, V. and Nascimento, T.",
    	doi = "10.1007/s10514-020-09913-0",
    	journal = "Autonomous Robots",
    	volume = 44,
    	issue = 6,
    	pages = "991-1008",
    	publisher = "Springer",
    	title = "{Formation control of unmanned micro aerial vehicles for straitened environments}",
    	type = "article",
    	year = 2020,
    	pdf = "data/papers/saska2020formation.pdf"
    }
    
Conference publications:  
  1. Jiri Horyna, Vit Kratky, Eliseo Ferrante and Martin Saska. Decentralized multi-robot velocity estimation for UAVs enhancing onboard camera-based velocity measurements. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022. PDF BibTeX

    @inproceedings{horyna2022estimation,
    	author = "{Horyna}, Jiri and {Kratky}, Vit and {Ferrante}, Eliseo and {Saska}, Martin",
    	booktitle = "{2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}",
    	title = "{Decentralized multi-robot velocity estimation for UAVs enhancing onboard camera-based velocity measurements}",
    	year = 2022,
    	organization = "IEEE/RSJ",
    	pdf = "data/papers/horyna2022estimation.pdf"
    }
    
  2. Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matous Vrba, 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 {Vrba}, Matous 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. M Saska, V Krátký, V Spurný and T Báča. Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control. In 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) (). 2017, 1-8. URL PDF, DOI BibTeX

    @inproceedings{saska2017etfa,
    	author = "M. Saska and V. Kr\'{a}tk\'{y} and V. Spurn\'{y} and T. B\'{a}\v{c}a",
    	booktitle = "2017 22nd 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,
    	volume = "",
    	number = "",
    	pages = "1-8",
    	keywords = "autonomous aerial vehicles;inspection;mobile radio;mobile robots;multi-robot systems;predictive control;unmanned aerial vehicles;model predictive control;unique multirobot application;indoor areas;historians;restorers;historical buildings;churches;documentation;inspection techniques;autonomous UAVs;robots;historical objects;conservationists;restoration works;robotic lightening approach;Cameras;Three-dimensional displays;Buildings;Robots;Image restoration;Lighting;Optimization",
    	doi = "10.1109/ETFA.2017.8247654",
    	issn = "",
    	url = "http://ieeexplore.ieee.org/document/8247654/",
    	pdf = "data/papers/saska17etfa.pdf",
    	month = "Sep."
    }