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

 

 

ORCID:   ORCID iD iconorcid.org/0000-0002-9019-1634
GS profile:   Vojtěch Spurný at Google Scholar
     
Education:   2015 - Ing. (=M.Sc.) Cybernetics and Robotics, FEE, CTU in Prague, supervised by Dr. M. Saska
     
Current projects:   DARPA SubT (2019-now)
    NAKI II - Dron & monument (2018-now)
    GACR-Swarms2 (2020-2022)
    Eagle.one (2018-now)
     
Past projects:   MBZIRC 20 (2018-2020)
    MBZIRC 17 (2016-2017)
    GACR-Swarms (2017-2019)
    Cesnet (2016-2018)
     
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:   Cybernetics and Artificial Intelligence
     
Thesis supervised:   M.Sc.:
   
Vít Krátký - Safe Autonomous Aerial Surveys of Historical Building Interiors [pdf]
     
    Bc.:
   
Aleš Novotný - Reactive collision-free motion planning of a helicopter using data from onboard stereo camera [pdf]
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]
   

 

Publications:  
  1. Dariuz Horla, Wojciech Giernacki, Tomas Baca, Vojtech Spurny and Martin Saska. AL-TUNE: In-flight tuning of an altitude controller for UAVs. Journal of Intelligent & Robotic Systems 103(5):1-16, August 2021. URL, DOI BibTeX

    @article{Horla2021AL-Tune,
    	author = "{Horla}, Dariuz and {Giernacki}, Wojciech and {Baca}, Tomas and {Spurny}, Vojtech and {Saska}, Martin",
    	month = "August",
    	title = "{AL-TUNE: In-flight tuning of an altitude controller for UAVs}",
    	year = 2021,
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	publisher = "Springer",
    	doi = "https://doi.org/10.1007/s10846-021-01441-y",
    	pages = "1-16",
    	volume = 103,
    	issue = 1,
    	number = 5,
    	url = "https://link.springer.com/article/10.1007/s10846-021-01441-y"
    }
    
  2. Viktor Walter, Vojtěch Spurný, Matěj Petrlík, Tomáš Báča, David Žaitlík and Martin Saska. Extinguishing of Ground Fires by Fully Autonomous UAVs Motivated by the MBZIRC 2020 Competition. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 787–793. PDF, DOI BibTeX

    @inproceedings{Viktor2021ICUAS,
    	author = "{Walter}, Viktor and {Spurný}, Vojtěch and {Petrlík}, Matěj and {Báča}, Tomáš and {Žaitlík}, David and {Saska}, Martin",
    	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Extinguishing of Ground Fires by Fully Autonomous UAVs Motivated by the MBZIRC 2020 Competition}",
    	year = 2021,
    	month = "June",
    	pdf = "data/papers/ICUAS_2021_Viktor.pdf",
    	pages = "787--793",
    	doi = "10.1109/ICUAS51884.2021.9476723",
    	organization = "IEEE"
    }
    
  3. Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. URL PDF, DOI BibTeX

    @article{baca2021mrs,
    	author = "Baca, Tomas and Petrlik, Matej and Vrba, Matous and Spurny, Vojtech and Penicka, Robert and Hert, Daniel and Saska, Martin",
    	month = "May",
    	title = "{The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles}",
    	year = 2021,
    	journal = "Journal of Intelligent {\&} Robotic Systems",
    	publisher = "Springer",
    	volume = 102,
    	issue = 1,
    	number = 26,
    	pages = "1--28",
    	type = "article",
    	doi = "10.1007/s10846-021-01383-5",
    	pdf = "https://arxiv.org/pdf/2008.08050",
    	url = "https://link.springer.com/article/10.1007/s10846-021-01383-5"
    }
    
  4. Yurii Stasinchuk, Matous Vrba, M Petrlik, T Baca, Vojtech Spurny, Daniel Hert, D Zaitlik, Tiago Nascimento and M Saska.. A Multi-UAV System for Detection and Elimination of Multiple Targets. In 2021 IEEE International Conference on Robotics and Automation (ICRA). June 2021. PDF BibTeX

    @inproceedings{stasinchuk2021ICRA,
    	author = "Yurii {Stasinchuk} and Matous {Vrba} and M. {Petrlik} and T. {Baca} and Vojtech {Spurny} and Daniel {Hert} and D. {Zaitlik} and Tiago {Nascimento} and M. {Saska}.",
    	booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
    	title = "{A Multi-UAV System for Detection and Elimination of Multiple Targets}",
    	year = 2021,
    	pdf = "data/papers/stasinchuk2021ICRA.pdf",
    	month = "June"
    }
    
  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,
    	month = "January",
    	volume = 9,
    	pages = "15872-15890",
    	doi = "10.1109/ACCESS.2021.3052967",
    	pdf = "data/papers/spurny2021autonomous.pdf"
    }
    
  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. T Rouček, M Pecka, P Čížek, T Petříček, J Bayer, V Šalanský, D Heřt, M Petrlík, T Báča, V Spurný, F Pomerleau, V Kubelka, J Faigl, K Zimmermann, M Saska, T Svoboda and T Krajník. DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments. In Modelling and Simulation for Autonomous Systems. 2019, 274–290. URL PDF, DOI BibTeX

    @inproceedings{roucek2019mesas,
    	title = "DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments",
    	author = "T. Rou\v{c}ek and M. Pecka and P. \v{C}\'{i}\v{z}ek and T. Pet\v{r}\'{i}\v{c}ek and J. Bayer and V. \v{S}alansk\'{y} and D. He\v{r}t and M. Petrl\'{i}k and T. B\'{a}\v{c}a and V. Spurn\'{y} and F. Pomerleau and V. Kubelka and J Faigl and K. Zimmermann and M. Saska and T. Svoboda and T. Krajn\'{i}k",
    	booktitle = "Modelling and Simulation for Autonomous Systems",
    	year = 2019,
    	pages = "274--290",
    	isbn = "978-3-030-43890-6",
    	doi = "10.1007/978-3-030-43890-6_22",
    	url = "https://link.springer.com/chapter/10.1007/978-3-030-43890-6_22",
    	pdf = "data/papers/mesas2019darpa.pdf"
    }
    
  8. V Spurný, M Petrlík, V Vonásek and M Saska. Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning. In 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) (). 2019, 955-962. URL PDF, DOI BibTeX

    @inproceedings{spurny2019etfa,
    	author = "V. Spurn\'{y} and M. Petrl\'{i}k and V. Von\'{a}sek and M. Saska",
    	booktitle = "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	title = "Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning",
    	year = 2019,
    	volume = "",
    	number = "",
    	pages = "955-962",
    	keywords = "Planning;Task analysis;Reliability;Robot kinematics;State estimation;Trajectory",
    	doi = "10.1109/ETFA.2019.8869298",
    	url = "https://ieeexplore.ieee.org/document/8869298",
    	pdf = "data/papers/spurny_etfa2019.pdf",
    	issn = "",
    	month = "Sep."
    }
    
  9. M Vrba, J Pogran, V Pritzl, V Spurný and M Saska. Real-time localization of transmission sources using a formation of micro aerial vehicles. In 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR). August 2019, 203-208. PDF, DOI BibTeX

    @inproceedings{vrba2019rcar,
    	author = "M. Vrba and J. Pogran and V. Pritzl and V. Spurn\'{y} and M. Saska",
    	booktitle = "2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)",
    	title = "Real-time localization of transmission sources using a formation of micro aerial vehicles",
    	year = 2019,
    	pages = "203-208",
    	keywords = "",
    	doi = "10.1109/RCAR47638.2019.9043942",
    	issn = "",
    	month = "Aug",
    	pdf = "data/papers/vrba_rcar2019.pdf"
    }
    
  10. T Báča, P Štěpán, V Spurný, D Heřt, R Pěnička, M Saska, J Thomas, G Loianno and V Kumar. Autonomous landing on a moving vehicle with an unmanned aerial vehicle. Journal of Field Robotics 36(5):874-891, 2019. URL PDF, DOI BibTeX

    @article{baca2019jfr,
    	author = "T. B\'{a}\v{c}a and P. \v{S}t\v{e}p\'{a}n and V. Spurn\'{y} and D. He\v{r}t and R. P\v{e}ni\v{c}ka 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",
    	volume = 36,
    	number = 5,
    	pages = "874-891",
    	keywords = "aerial robotics, control, planning, position estimation",
    	doi = "10.1002/rob.21858",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21858",
    	year = 2019,
    	pdf = "data/papers/jfr_2019_landing.pdf"
    }
    
  11. V Spurný, T Báča, M Saska, R Pěnička, T Krajník, J Thomas, D Thakur, 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 36(1):125-148, 2019. URL PDF, DOI BibTeX

    @article{spurny2019jfr,
    	author = "V. Spurn\'{y} and T. B\'{a}\v{c}a and M. Saska and R. P\v{e}ni\v{c}ka and T. Krajn\'{i}k and J. Thomas and D. Thakur and G. Loianno and V. Kumar",
    	title = "Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles",
    	journal = "Journal of Field Robotics",
    	volume = 36,
    	number = 1,
    	pages = "125-148",
    	keywords = "aerial robotics, cooperative robots, mobile manipulation, planning",
    	doi = "10.1002/rob.21816",
    	url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21816",
    	year = 2019,
    	pdf = "data/papers/spurny2018jfr.pdf"
    }
    
  12. 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 3:1576–1583, 2018. URL PDF BibTeX

    @article{loianno2018ral,
    	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",
    	journal = "IEEE Robotics and Automation Letters",
    	volume = 3,
    	issue = 3,
    	pages = "1576--1583",
    	year = 2018,
    	url = "http://ieeexplore.ieee.org/document/8276269/",
    	pdf = "data/papers/ral_2018_grasping.pdf"
    }
    
  13. 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."
    }
    
  14. 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 PDF, DOI BibTeX

    @inproceedings{fajgl2017ecmr,
    	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,
    	volume = "",
    	number = "",
    	pages = "1-6",
    	keywords = "optimisation;travelling salesman problems;Dubins touring problem;Dubins traveling salesman problem;DTSP;combinatorial optimization;optimal sequence;waypoints;continuous optimization;optimal headings;independent solution;sequencing part;approximate solution;high-quality solution;target locations;decoupled approaches;uniform sampling;Electronics packaging;Optimization;Turning;Traveling salesman problems;Approximation algorithms;Iterative algorithms;Estimation",
    	doi = "10.1109/ECMR.2017.8098685",
    	issn = "",
    	url = "https://ieeexplore.ieee.org/document/8098685",
    	pdf = "data/papers/fajgl2017ecmr.pdf",
    	month = "Sep."
    }
    
  15. V Spurný, T Báča and M 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{spurny2016mmar,
    	author = "V. Spurn\'{y} and T. B\'{a}\v{c}a and M. 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",
    	doi = "10.1109/MMAR.2016.7575274",
    	month = "Aug",
    	url = "http://ieeexplore.ieee.org/document/7575274/",
    	pdf = "data/papers/vojtech_spurny_mmar16.pdf"
    }
    
  16. M Saska, V Spurný and V Vonásek. Predictive control and stabilization of nonholonomic formations with integrated spline-path planning. Robotics and Autonomous Systems, 2015. URL PDF, DOI BibTeX

    @article{saska2015ras,
    	author = "M. Saska and V. Spurn\'{y} and V. Von\'{a}sek",
    	title = "Predictive control and stabilization of nonholonomic formations with integrated spline-path planning",
    	journal = "Robotics and Autonomous Systems",
    	doi = "10.1016/j.robot.2015.09.004",
    	year = 2015,
    	url = "http://www.sciencedirect.com/science/article/pii/S092188901500192X",
    	pdf = "data/papers/rasSaska15.pdf"
    }
    
  17. M Saska, T Krajník, V Vonásek, Z Kasl, V Spurný and L 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 PDF BibTeX

    @article{saska2014jint,
    	author = "M. Saska and T. Krajn\'{i}k and V. Von\'{a}sek and Z. Kasl and V. Spurn\'{y} and L. 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",
    	url = "http://link.springer.com/article/10.1007/s10846-013-9976-6",
    	pdf = "data/papers/JINT14_failure.pdf"
    }
    
  18. M Saska, V Spurný and L Přeučil. Trajectory Planning and Stabilization for Formations Acting in Dynamic Environments. In Progress in Artificial Intelligence. 2013, 319–330. PDF BibTeX

    @inproceedings{saska2013springer,
    	author = "M. Saska and V. Spurn\'{y} and L. 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",
    	pdf = "data/papers/EPIA_IROBOT_2013_dynamic_obst-crop-joined.pdf"
    }