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Phone:
+420-22435-7384
Email:
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Position:
research fellow
Room:
KN:E 130

 

Education:  

2016 - Ph.D., Doctorate program Artificial Intelligence and Biocybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague,  thesis: "A guided approach to sampling-based motion planning", 

2008 - Ing. (=M.Sc.), Faculty of Electrical Engineering, Czech Technical University in Prague, supervisor J. Faigl 

     

Current Projects:

  Symbrion and Replicator
     
Research Interest:  

Motion planning , Modular robotics , Robotic simulators, Shape matching

     
Research stays:   Karlsruhe Institute of Technology (KIT) - Institute for Anthropomatics and Robotics (IAR) - Intelligent Process Control and Robotics (IPR)
     
Teaching:   Current
   

Statistika a spolehlivost v lékařštví

Algoritmy a programování 

    Past
    Spolehlivost a komplexní řízení jakosti
    Spolehlivost a konstrukce lékařských systémů
    Programovací techniky (Programming techniques)
     
Theses Supervised:   M.Sc.:
    Vladimír Grimmer - Realizace prototypu elektronické orientační pomůcky pro nevidomé
    Petr Vaněk - Motion planning of formations of mobile robots and unmanned aerial vehicles
    Penc Ondřej - Motion Planning for Modular Robots
    Milan Prouza - Locomotion generation for modular robots
   

Robert Penicka - Motion planning for seabed monitoring by autonomous underwater vehicles

    Bc.:
    Petr Janoušek - Explorace prostředí mobilním robotem s využitím polygonální mapy
    Milan Prouza - Plánování pohybu formace mobilních robotů
    Jiří Neliba - Forming of modular robot organisms from a swarm of robotic modules
    Libor Urbaník - Methods for people localization based on radio signals
    Matej PetrlíkPlanning of swarm deployment for autonomous surveillance
    Tom Jankovec - Path planning in protein structures (obtained dean award 2016 :-)
    Daniel Lamper - Motion planning for modular robots under failures
     
Selected Publications:    
   
  1. Vojtech Vonásek, Martin Saska, Karel Kosnar and Libor Preucil. Motion planning with adaptive motion primitives for modular robots. Applied Soft Computing 34(0):678-692, 2015. URL, DOI BibTeX

    @article{Vonasek2015motion,
    	title = "Motion planning with adaptive motion primitives for modular robots",
    	journal = "Applied Soft Computing",
    	volume = 34,
    	number = 0,
    	pages = "678-692",
    	year = 2015,
    	note = "",
    	issn = "1568-4946",
    	url = "http://www.sciencedirect.com/science/article/pii/S1568494615003026",
    	author = "Vojtech Vonásek and Martin Saska and Karel Kosnar and Libor Preucil",
    	keywords = "Particle swarm optimization",
    	doi = "10.1016/j.asoc.2015.05.002"
    }
    
  2. Vojtech Vonásek, Martin Saska, Lutz Winkler and Libor Preucil. High-level motion planning for CPG-driven modular robots. Robotics and Autonomous Systems 68(0):116 - 128, 2015. URL PDF BibTeX

    @article{Vonasek2015high,
    	title = "High-level motion planning for CPG-driven modular robots",
    	journal = "Robotics and Autonomous Systems",
    	volume = 68,
    	number = 0,
    	pages = "116 - 128",
    	year = 2015,
    	note = "",
    	issn = "0921-8890",
    	url = "http://www.sciencedirect.com/science/article/pii/S0921889015000147",
    	author = "Vojtech Vonásek and Martin Saska and Lutz Winkler and Libor Preucil",
    	keywords = "Central pattern generator",
    	pdf = "data/papers/rasmod2015modular.pdf"
    }
    
  3. V Vonásek and J Faigl. Evolution of multiple gaits for modular robots. In 2016 IEEE Symposium Series on Computational Intelligence (SSCI). December 2016, 1-8. URL PDF, DOI BibTeX

    @inproceedings{7850182,
    	author = "V. Vonásek and J. Faigl",
    	booktitle = "2016 IEEE Symposium Series on Computational Intelligence (SSCI)",
    	title = "Evolution of multiple gaits for modular robots",
    	year = 2016,
    	pages = "1-8",
    	keywords = "Aerospace electronics;Cost function;Genetic algorithms;Legged locomotion;Planning",
    	doi = "10.1109/SSCI.2016.7850182",
    	url = "http://ieeexplore.ieee.org/document/7850182/",
    	pdf = "data/papers/ssci2016_vonasek.pdf",
    	month = "Dec"
    }
    
  4. Vojtech Vonasek and Barbora Kozlikova. Application of sampling-based path planning for tunnel detection in dynamic protein structures. In 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR). August 2016, 1010-1015. URL PDF, DOI BibTeX

    @inproceedings{vonasek2016application,
    	author = "Vonasek, Vojtech and Kozlikova, Barbora",
    	booktitle = "2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR)",
    	title = "Application of sampling-based path planning for tunnel detection in dynamic protein structures",
    	year = 2016,
    	pages = "1010-1015",
    	keywords = "Atomic measurements;Cavity resonators;Collision avoidance;Probes;Proteins;Robots;Stability analysis",
    	doi = "10.1109/MMAR.2016.7575276",
    	month = "Aug",
    	pdf = "data/papers/mmar2016protein.pdf",
    	url = "http://ieeexplore.ieee.org/document/7575276/"
    }
    
  5. Vojtech Vonasek, David Oertel, Sergej Neumann and Heinz Worn. Failure recovery for modular robot movements without reassembling modules. In Robot Motion and Control (RoMoCo), 2015 10th International Workshop on. July 2015, 136-141. URL PDF, DOI BibTeX

    @inproceedings{7219725,
    	author = "Vonasek, Vojtech and Oertel, David and Neumann, Sergej and Worn, Heinz",
    	booktitle = "Robot Motion and Control (RoMoCo), 2015 10th International Workshop on",
    	title = "Failure recovery for modular robot movements without reassembling modules",
    	year = 2015,
    	pages = "136-141",
    	keywords = "Actuators;Cost function;Generators;Joints;Legged locomotion;Planning",
    	doi = "10.1109/RoMoCo.2015.7219725",
    	month = "July",
    	pdf = "data/papers/romoco2015-modular.pdf",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219725"
    }
    
  6. Axel Vick, Vojtech Vonasek, Robert Penicka and Jorg Kruger. Robot control as a service - Towards cloud-based motion planning and control for industrial robots. In Robot Motion and Control (RoMoCo), 2015 10th International Workshop on. July 2015, 33-39. URL PDF, DOI BibTeX

    @inproceedings{7219710,
    	author = "Vick, Axel and Vonasek, Vojtech and Penicka, Robert and Kruger, Jorg",
    	booktitle = "Robot Motion and Control (RoMoCo), 2015 10th International Workshop on",
    	title = "Robot control as a service - Towards cloud-based motion planning and control for industrial robots",
    	year = 2015,
    	pages = "33-39",
    	keywords = "Collision avoidance;Interpolation;Planning;Robot kinematics;Robot sensing systems;Service robots",
    	doi = "10.1109/RoMoCo.2015.7219710",
    	month = "July",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219710",
    	pdf = "data/papers/romoco2015-rcaas.pdf"
    }
    
  7. Vojtech Vonasek, Sergej Neumann, David Oertel and Heinz Worn. Online Motion Planning for Failure Recovery of Modular Robotic Systems. In IEEE International Conference on Robotics and Automation. 2015, 1905–1910. URL PDF BibTeX

    @inproceedings{vonasek2015online,
    	author = "Vonasek, Vojtech and Neumann, Sergej and Oertel, David and Worn, Heinz",
    	title = "{Online Motion Planning for Failure Recovery of Modular Robotic Systems}",
    	booktitle = "IEEE International Conference on Robotics and Automation",
    	address = "Piscataway",
    	year = 2015,
    	pages = "1905--1910",
    	isbn = "978-1-4799-6923-4",
    	issn = "1050-4729",
    	language = "English",
    	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7139447",
    	pdf = "data/papers/icra2015modular.pdf"
    }
    
  8. J Faigl, M Kulich, V Vonasek and L Preucil. An Application of the Self-Organizing Map in the non-Euclidean Traveling Salesman Problem. Neurocomputing 74(5):671–679, February 2011. URL BibTeX

    @article{Faigl11:174233,
    	author = "Faigl, J. and Kulich, M. and Vonasek, V. and Preucil, L.",
    	title = "{An Application of the Self-Organizing Map in the non-Euclidean Traveling Salesman Problem}",
    	journal = "Neurocomputing",
    	year = 2011,
    	volume = 74,
    	number = 5,
    	pages = "671--679",
    	month = "February",
    	issn = "0925-2312",
    	language = "English",
    	url = "http://dx.doi.org/10.1016/j.neucom.2010.08.026"
    }
    
  9. Jan Faigl, Vojtech Vonasek and Libor Preucil. Visiting Convex Regions in a Polygonal Map. Robotics and Autonomous Systems 61(10):1070–1083, October 2013. URL BibTeX

    @article{Faigl13:205385,
    	author = "Faigl, Jan and Vonasek, Vojtech and Preucil, Libor",
    	title = "{Visiting Convex Regions in a Polygonal Map}",
    	journal = "Robotics and Autonomous Systems",
    	year = 2013,
    	volume = 61,
    	number = 10,
    	pages = "1070--1083",
    	month = "October",
    	issn = "0921-8890",
    	language = "English",
    	url = "http://www.sciencedirect.com/science/article/pii/S0921889012001455"
    }
    
  10. M Saska, T Krajnik, V Vonasek, Z Kasl, V Spurny and L Preucil. 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{Saska14:212936,
    	author = "Saska, M. and Krajnik, T. and Vonasek, V. and Kasl, Z. and Spurny, V. and Preucil, L.",
    	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",
    	pdf = "data/papers/JINT14_failure.pdf"
    }
    
  11. M Saska, J S Mejia, D M Stipanovic, V Vonasek, K Schilling and L Preucil. Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles. European Journal of Control 19(2):157–171, March 2013. URL PDF BibTeX

    @article{Saska13:206004,
    	author = "Saska, M. and Mejia, J.S. and Stipanovic, D.M. and Vonasek, V. and Schilling, K. and Preucil, L.",
    	title = "{Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles}",
    	journal = "European Journal of Control",
    	year = 2013,
    	volume = 19,
    	number = 2,
    	pages = "157--171",
    	month = "March",
    	issn = "0947-3580",
    	language = "English",
    	url = "http://www.sciencedirect.com/science/article/pii/S0947358013000204",
    	pdf = "data/papers/European_Journal_control2013.pdf"
    }
    
  12. P Levi, E Meister, A Rossum, T Krajnik, V Vonasek, P Stepan, W Liu and F Caparrelli. A Cognitive Architecture for Modular and Self-Reconfigurable Robots. In Proceedings of 8th Annual IEEE Systems Conference. 2014, 465–472. URL BibTeX

    @inproceedings{Levi14:223329,
    	author = "Levi, P. and Meister, E. and van Rossum, A. and Krajnik, T. and Vonasek, V. and Stepan, P. and Liu, W. and Caparrelli, F.",
    	title = "{A Cognitive Architecture for Modular and Self-Reconfigurable Robots}",
    	booktitle = "{Proceedings of 8th Annual IEEE Systems Conference}",
    	publisher = "IEEE",
    	address = "Piscataway",
    	year = 2014,
    	pages = "465--472",
    	isbn = "978-1-4799-2086-0",
    	issn = "1944-7620",
    	language = "English",
    	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6819298"
    }
    
  13. M Saska, J Chudoba, L Preucil, J Thomas, G Loianno, A Tresnak, V Vonasek and V Kumar. Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance. In Proceedings of 2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS) 1. 2014, 584–595. URL PDF BibTeX

    @inproceedings{Saska14:221385,
    	author = "Saska, M. and Chudoba, J. and Preucil, L. and Thomas, J. and Loianno, G. and Tresnak, A. and Vonasek, V. and Kumar, V.",
    	title = "{Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance}",
    	booktitle = "{Proceedings of 2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)}",
    	publisher = "IEEE Computer society",
    	address = "Danvers",
    	year = 2014,
    	volume = 1,
    	pages = "584--595",
    	isbn = "978-1-4799-2376-2",
    	language = "English",
    	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6842301",
    	pdf = "data/papers/icuas2014-joined.pdf"
    }
    
  14. M Saska, T Krajnik, J Faigl, V Vonasek and L Preucil. Low Cost MAV Platform AR-Drone in Experimental Verifications of Methods for Vision Based Autonomous Navigation. In Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems 1. 2012, 4808–4809. PDF BibTeX

    @inproceedings{Saska12:199007,
    	author = "Saska, M. and Krajnik, T. and Faigl, J. and Vonasek, V. and Preucil, L.",
    	title = "{Low Cost MAV Platform AR-Drone in Experimental Verifications of Methods for Vision Based Autonomous Navigation}",
    	booktitle = "{Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}",
    	publisher = "IEEE",
    	address = "Piscataway",
    	year = 2012,
    	volume = 1,
    	pages = "4808--4809",
    	isbn = "978-1-4673-1735-1",
    	language = "English",
    	pdf = "data/papers/IROS2012_UAV_movie-joined.pdf"
    }
    
  15. M Saska, V Vonasek and L Preucil. Roads Sweeping by Unmanned Multi-vehicle Formations. In ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation. 2011, 631–636. PDF BibTeX

    @inproceedings{Saska11:184238,
    	author = "Saska, M. and Vonasek, V. and Preucil, L.",
    	title = "{Roads Sweeping by Unmanned Multi-vehicle Formations}",
    	booktitle = "{ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation}",
    	publisher = "Omnipress",
    	address = "Madison",
    	year = 2011,
    	pages = "631--636",
    	isbn = "978-1-61284-386-5",
    	issn = "1050-4729",
    	language = "English",
    	pdf = "data/papers/ICRA2011_2leaders_airport_final-crop-joined.pdf"
    }
    
  16. V Vonasek, J Faigl, T Krajnik and L Preucil. A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path. In Proceedings of the 5th European Conference on Mobile Robots. 2011, 201–206. PDF BibTeX

    @inproceedings{Vonasek11:182177,
    	author = "Vonasek, V. and Faigl, J. and Krajnik, T. and Preucil, L.",
    	title = "{A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path}",
    	booktitle = "{Proceedings of the 5th European Conference on Mobile Robots}",
    	publisher = "AASS Research Centre",
    	address = {{\" O}rebro},
    	year = 2011,
    	pages = "201--206",
    	language = "English",
    	pdf = "data/papers/ecmr2011.pdf"
    }
    
  17. V Vonasek, J Faigl, T Krajnik and L Preucil. RRT-Path: a guided Rapidly exploring Random Tree. In Robot Motion and Control 2009. 2009, 307–316. PDF BibTeX

    @inproceedings{Vonasek09:158239,
    	author = "Vonasek, V. and Faigl, J. and Krajnik, T. and Preucil, L.",
    	title = "{RRT-Path: a guided Rapidly exploring Random Tree}",
    	booktitle = "{Robot Motion and Control 2009}",
    	publisher = "Springer",
    	address = "Heidelberg",
    	year = 2009,
    	pages = "307--316",
    	isbn = "978-1-84882-984-8",
    	issn = "0302-9743",
    	language = "English",
    	pdf = "data/papers/romoco2009rrtpath.pdf"
    }
    
  18. V Vonasek, K Kosnar and L Preucil. Motion Planning of Self-reconfigurable Modular Robots Using Rapidly Exploring Random Trees. In Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. 2012, 279–290. PDF, DOI BibTeX

    @inproceedings{Vonasek12:194431,
    	author = "Vonasek, V. and Kosnar, K. and Preucil, L.",
    	title = "{Motion Planning of Self-reconfigurable Modular Robots Using Rapidly Exploring Random Trees}",
    	booktitle = "{Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress}",
    	publisher = "Springer",
    	address = "Dordrecht",
    	year = 2012,
    	pages = "279--290",
    	isbn = "978-3-642-32526-7",
    	issn = "0302-9743",
    	language = "English",
    	doi = "10.1007/978-3-642-32527-4_25",
    	pdf = "data/papers/taros2012modular.pdf"
    }
    
  19. V Vonasek, S Neumann, L Winkler, K Kosnar, H Woern and L Preucil. Task-Driven Evolution of Modular Self-Reconfigurable Robots. In From Animals to Animats 13 8575. 2014, 240–249. PDF BibTeX

    @inproceedings{Vonasek14:221352,
    	author = "Vonasek, V. and Neumann, S. and Winkler, L. and Kosnar, K. and Woern, H. and Preucil, L.",
    	title = "{Task-Driven Evolution of Modular Self-Reconfigurable Robots}",
    	booktitle = "{From Animals to Animats 13}",
    	publisher = "Springer",
    	address = "Heidelberg",
    	year = 2014,
    	volume = 8575,
    	pages = "240--249",
    	isbn = "978-3-319-08863-1",
    	issn = "0302-9743",
    	language = "English",
    	pdf = "data/papers/sab2014modular.pdf"
    }
    
  20. V Vonasek, O Penc, K Kosnar and L Preucil. Optimization of Motion Primitives for High-Level Motion Planning of Modular Robots. In Mobile Service Robotics: CLAWAR 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. 2014, 109–116. PDF BibTeX

    @inproceedings{Vonasek14:221349,
    	author = "Vonasek, V. and Penc, O. and Kosnar, K. and Preucil, L.",
    	title = "{Optimization of Motion Primitives for High-Level Motion Planning of Modular Robots}",
    	booktitle = "{Mobile Service Robotics: CLAWAR 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines}",
    	publisher = "World Scientific",
    	address = "Singapore",
    	year = 2014,
    	pages = "109--116",
    	isbn = "978-981-4623-34-6",
    	language = "English",
    	pdf = "data/papers/clawar2014modular.pdf"
    }
    
  21. V Vonasek, M Saska, K Kosnar and L Preucil. Global Motion Planning for Modular Robots with Local Motion Primitives. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013. PDF, DOI BibTeX

    @inproceedings{Vonasek13:205389,
    	author = "Vonasek, V. and Saska, M. and Kosnar, K. and Preucil, L.",
    	title = "{Global Motion Planning for Modular Robots with Local Motion Primitives}",
    	booktitle = "{ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation}",
    	publisher = "IEEE",
    	address = "Piscataway",
    	year = 2013,
    	isbn = "978-1-4673-5641-1",
    	issn = "1050-4729",
    	language = "English",
    	pdf = "data/papers/icra2013modular.pdf",
    	doi = "10.1109/ICRA.2013.6630912"
    }
    
  22. V Vonasek, L Winkler, J Liedke, M Saska, K Kosnar and L Preucil. Fast On-Board Motion Planning for Modular Robots. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014, 1215–1220. URL PDF BibTeX

    @inproceedings{Vonasek14:221350,
    	author = "Vonasek, V. and Winkler, L. and Liedke, J. and Saska, M. and Kosnar, K. and Preucil, L.",
    	title = "{Fast On-Board Motion Planning for Modular Robots}",
    	booktitle = "{ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation}",
    	publisher = "IEEE",
    	address = "Piscataway",
    	year = 2014,
    	pages = "1215--1220",
    	isbn = "978-1-4799-3684-7",
    	language = "English",
    	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907008",
    	pdf = "data/papers/icra2014modular.pdf"
    }
    
  23. L Winkler, V Vonasek, H Worn and L Preucil. Robot3D - A Simulator for Mobile Modular Self-Reconfigurable Robots. In Proceedings of 2012 IEEE International Conference on Multisensor Fusion and Information Integration. 2012, 464–469. DOI BibTeX

    @inproceedings{Winkler12:196419,
    	author = "Winkler, L. and Vonasek, V. and Worn, H. and Preucil, L.",
    	title = "{Robot3D - A Simulator for Mobile Modular Self-Reconfigurable Robots}",
    	booktitle = "{Proceedings of 2012 IEEE International Conference on Multisensor Fusion and Information Integration}",
    	publisher = "IEEE",
    	address = "Piscataway",
    	year = 2012,
    	pages = "464--469",
    	isbn = "978-1-4673-2511-0",
    	language = "English",
    	doi = "10.1109/MFI.2012.6343016"
    }