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Phone:
+420-22435-5754
Email:
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Position:
PhD student
Room:
KN:E-119

 

Education:   2015 - Ing. (=M.Sc.) Cybernetics and Robotics, FEE, CTU in Prague, supervised by Dr. M. Saska
     
Current projects:   GACR-Swarms (2017-now)
    Cesnet (2016-now)
    MBZIRC 20 (2018-now)
     
Past projects:   MBZIRC 17 (2016-2017)
     
Research Interest:   Unmanned Aerial Vehicles, Motion planning, Multi-robot systems
     
Research stays:   2016 - University of Pennsylvania, USA - GRASP lab
    2018 - University of Pennsylvania, USA - GRASP lab
     
Teaching:   Kybernetika a umělá inteligence
     
Thesis supervised:   Michal Němec - ARFID chips localization by a group of helicopters using a principle of Multilateration [pdf]
    Dan Šuster      - Reactive motion planning of a formation of helicopters for mapping of transmission sources positions [pdf]
    Aleš Novotný   - Reactive collision-free motion planning of a helicopter using data from onboard stereo camera [pdf]
   

 

Publications:  
  1. 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, 2018. URL, DOI BibTeX

    @article{spurny_jfr18,
    	author = "Spurn\'{y}, Vojt\v{e}ch and B\'{a}\v{c}a, Tom\'{a}\v{s} and Saska, Martin and P\v{e}ni\v{c}ka, Robert and Krajn\'{i}k, Tom\'{a}\v{s} 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",
    	year = 2018,
    	doi = "10.1002/rob.21816",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21816"
    }
    
  2. G Loianno, V Spurný, T Báča, J Thomas, D Thakur, D Heřt, R Pěnička, T Krajník, 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{loianno_ral18,
    	title = "Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments",
    	author = "G. Loianno and V. Spurn\'{y} and T. B\'{a}\v{c}a and J. Thomas and D. Thakur and D. He\v{r}t and R. P\v{e}ni\v{c}ka and T. Krajn\'{i}k 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/"
    }
    
  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 BibTeX

    @inproceedings{saska_etfa17,
    	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,
    	pages = "1-8",
    	month = "Sept",
    	url = "http://ieeexplore.ieee.org/document/8247654/"
    }
    
  4. J Faigl, P Váňa, M Saska, T Báča and V Spurný. On solution of the Dubins touring problem. In 2017 European Conference on Mobile Robots (ECMR). 2017, 1-6. URL BibTeX

    @inproceedings{fajgl_ecmr17,
    	author = "J. Faigl and P. V\'{a}\v{n}a and M. Saska and T. B\'{a}\v{c}a and V. Spurn\'{y}",
    	booktitle = "2017 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/"
    }
    
  5. Vojtěch Spurný, Tomáš Báča and Martin Saska. Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control. In 21st International Conference on Methods and Models in Automation and Robotics (MMAR). August 2016, 998-1003. URL PDF, DOI BibTeX

    @inproceedings{spurny_mmar16,
    	author = "Vojt\v{e}ch Spurn\'{y} and Tom\'{a}\v{s} B\'{a}\v{c}a and Martin Saska",
    	title = "Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control",
    	booktitle = "21st International Conference on Methods and Models in Automation and Robotics (MMAR)",
    	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"
    }
    
  6. Martin Saska, Vojtěch Spurný and Vojtěch Vonásek. Predictive control and stabilization of nonholonomic formations with integrated spline-path planning. Robotics and Autonomous Systems, accepted, doi:10.1016/j.robot.2015.09.004, 2015. URL PDF BibTeX

    @article{saska_ras15,
    	author = "Martin Saska and Vojt\v{e}ch Spurn\'{y} and Vojt\v{e}ch Von\'{a}sek",
    	title = "Predictive control and stabilization of nonholonomic formations with integrated spline-path planning",
    	journal = "Robotics and Autonomous Systems, accepted, doi:10.1016/j.robot.2015.09.004",
    	year = 2015,
    	url = "http://www.sciencedirect.com/science/article/pii/S092188901500192X",
    	pdf = "data/papers/rasSaska15.pdf"
    }
    
  7. Martin Saska, Tomáš Krajník, Vojtěch Vonásek, Zděněk Kasl, Vojtěch Spurný and Libor Přeučil. Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups. Journal of Intelligent and Robotic Systems 73(1-4):603–622, January 2014. URL BibTeX

    @article{Saska14:212936,
    	author = "Martin Saska and Tom\'{a}\v{s} Krajn\'{i}k and Vojt\v{e}ch Von\'{a}sek and Zd\v{e}n\v{e}k Kasl and Vojt\v{e}ch Spurn\'{y} and Libor P\v{r}eu\v{c}il",
    	title = "Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups",
    	journal = "Journal of Intelligent and Robotic Systems",
    	year = 2014,
    	volume = 73,
    	number = "1-4",
    	pages = "603--622",
    	month = "January",
    	issn = "0921-0296",
    	language = "English",
    	url = "http://link.springer.com/article/10.1007/s10846-013-9976-6"
    }
    
  8. Martin Saska, Vojtěch Spurný and Libor Přeučil. Trajectory Planning and Stabilization for Formations Acting in Dynamic Environments. In Progress in Artificial Intelligence. 2013, 319–330. BibTeX

    @inproceedings{Saska13:210722,
    	author = "Martin Saska and Vojt\v{e}ch Spurn\'{y} and Libor P\v{r}eu\v{c}il",
    	title = "Trajectory Planning and Stabilization for Formations Acting in Dynamic Environments",
    	booktitle = "Progress in Artificial Intelligence",
    	publisher = "Springer",
    	address = "Heidelberg",
    	year = 2013,
    	pages = "319--330",
    	isbn = "978-3-642-40668-3",
    	issn = "0302-9743",
    	language = "English"
    }