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Phone:
+420-22435-5754
Email:
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Position:
PhD student
Room:
E-130

 

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)
     
Past projects:   MBZIRC 17 (2016-2017)
     
Research Interest:   Unmanned Aerial Vehicles, Motion planning, Multi-robot systems
     
Research stays:   University of Pennsylvania, USA - GRASP lab - Kumar Lab
     
Teaching:   Kybernetika a umělá inteligence
     
Thesis supervised:   Michal Němec - ARFID chips localization by a group of helicopters using a principle of Multilateration
    Dan Šuster      - Reactive motion planning of a formation of helicopters for mapping of transmission sources positions
    Aleš Novotný   - Reactive collision-free motion planning of a helicopter using data from onboard stereo camera
   

 

Publications:  
  1. 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/"
    }
    
  2. 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. Krátký and V. Spurný and T. Báča",
    	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/"
    }
    
  3. 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. Váňa and M. Saska and T. Báča and V. Spurný",
    	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/"
    }
    
  4. Vojtěch Spurný, Tomáš Báča and Martin Saska. Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control. In 2016 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 = "2016 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"
    }
    
  5. 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"
    }
    
  6. 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"
    }
    
  7. 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"
    }