Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes.

 

Main goal: 

Design a methodology increasing the safeness, reliability and efficiency of large, compact teams of autonomous micro aerial vehicles (MAVs) in distributed information gathering tasks. Exploit the advantage of closely cooperating MAV teams in the transition between GNSS and GNSS-denied workspaces.

Abstract: 

The aim of the project is to design a methodology that allows reliable deployment of teams of autonomous, closely cooperating, micro aerial vehicles (MAVs) using real (imperfect) sensors and communication in demanding conditions of real  deployment. To allow safe team stabilization and coordination, precise state estimation of the MAV group, which is tolerant to failures of onboard sensory and communication sub-systems, will be solved using distributed inner group perception. As an important side-product, problems of the transition between GNSS (Global Navigation Satellite Systems) and GNSS-denied environments will be tackled using sensor fusion across the group. Coherence swarming behaviour relying on minimal  possible sensory information will be designed as a safety mechanism of group stabilization. Finally, an approach that enables adaptive distribution of MAVs of the group to maximize the information gain will be designed and experimentally verified in multi-robot scenarios.

 

Publications:

  1. Vojtech Spurny, Matej Petrlik, Vojtech Vonasek and Martin 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. BibTeX

    @inproceedings{spurny2019cooperative,
    	title = "Cooperative transport of large objects by a pair of unmanned aerial systems using sampling-based motion planning",
    	author = "Spurny, Vojtech and Petrlik, Matej and Vonasek, Vojtech and Saska, Martin",
    	booktitle = "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	pages = "955--962",
    	year = 2019,
    	organization = "IEEE"
    }
    
  2. Petr Štěpán, Tomáš Krajn\'ık, Matěj Petrl\'ık and Martin Saska. Vision techniques for on-board detection, following, and mapping of moving targets. Journal of Field Robotics 36(1):252–269, 2019. BibTeX

    @article{vstvepan2019vision,
    	title = "Vision techniques for on-board detection, following, and mapping of moving targets",
    	author = "{\v{S}}t{\v{e}}p{\'a}n, Petr and Krajn{\'\i}k, Tom{\'a}{\v{s}} and Petrl{\'\i}k, Mat{\v{e}}j and Saska, Martin",
    	journal = "Journal of Field Robotics",
    	volume = 36,
    	number = 1,
    	pages = "252--269",
    	year = 2019,
    	publisher = "Wiley Online Library"
    }
    
  3. Martin Saska. Large sensors with adaptive shape realised by self-stabilised compact groups of micro aerial vehicles. In Robotics Research. Springer, 2020, pages 101–107. BibTeX

    @incollection{saska2020large,
    	title = "Large sensors with adaptive shape realised by self-stabilised compact groups of micro aerial vehicles",
    	author = "Saska, Martin",
    	booktitle = "Robotics Research",
    	pages = "101--107",
    	year = 2020,
    	publisher = "Springer"
    }
    
  4. Robert Pěnička, Martin Saska, Christophe Reymann and Simon Lacroix. Reactive dubins traveling salesman problem for replanning of information gathering by uavs. In 2017 European Conference on Mobile Robots (ECMR). 2017, 1–6. BibTeX

    @inproceedings{pvenivcka2017reactive,
    	title = "Reactive dubins traveling salesman problem for replanning of information gathering by uavs",
    	author = "P{\v{e}}ni{\v{c}}ka, Robert and Saska, Martin and Reymann, Christophe and Lacroix, Simon",
    	booktitle = "2017 European Conference on Mobile Robots (ECMR)",
    	pages = "1--6",
    	year = 2017,
    	organization = "IEEE"
    }
    
  5. Robert Pěnička, Jan Faigl, Petr Váňa and Martin Saska. Dubins orienteering problem with neighborhoods. In 2017 International Conference on Unmanned Aircraft Systems (ICUAS). 2017, 1555–1562. BibTeX

    @inproceedings{pvenivcka2017dubins,
    	title = "Dubins orienteering problem with neighborhoods",
    	author = "P{\v{e}}ni{\v{c}}ka, Robert and Faigl, Jan and V{\'a}{\v{n}}a, Petr and Saska, Martin",
    	booktitle = "2017 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	pages = "1555--1562",
    	year = 2017,
    	organization = "IEEE"
    }
    
  6. Tomas Baca, Petr Stepan and Martin Saska. Autonomous landing on a moving car with unmanned aerial vehicle. In 2017 European Conference on Mobile Robots (ECMR). 2017, 1–6. BibTeX

    @inproceedings{baca2017autonomous,
    	title = "Autonomous landing on a moving car with unmanned aerial vehicle",
    	author = "Baca, Tomas and Stepan, Petr and Saska, Martin",
    	booktitle = "2017 European Conference on Mobile Robots (ECMR)",
    	pages = "1--6",
    	year = 2017,
    	organization = "IEEE"
    }
    
  7. Martin Saska, V\'ıt Krátk\`y, Vojtěch Spurn\`y and Tomáš 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. BibTeX

    @inproceedings{saska2017documentation,
    	title = "Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control",
    	author = "Saska, Martin and Kr{\'a}tk{\`y}, V{\'\i}t and Spurn{\`y}, Vojt{\v{e}}ch and B{\'a}{\v{c}}a, Tom{\'a}{\v{s}}",
    	booktitle = "2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
    	pages = "1--8",
    	year = 2017,
    	organization = "IEEE"
    }
    
  8. Tomas Baca, Daniel Hert, Giuseppe Loianno, Martin Saska and Vijay Kumar. Model predictive trajectory tracking and collision avoidance for reliable outdoor deployment of unmanned aerial vehicles. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018, 6753–6760. BibTeX

    @inproceedings{baca2018model,
    	title = "Model predictive trajectory tracking and collision avoidance for reliable outdoor deployment of unmanned aerial vehicles",
    	author = "Baca, Tomas and Hert, Daniel and Loianno, Giuseppe and Saska, Martin and Kumar, Vijay",
    	booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    	pages = "6753--6760",
    	year = 2018,
    	organization = "IEEE"
    }
    
  9. Viktor Walter, Martin Saska and Antonio Franchi. Fast mutual relative localization of uavs using ultraviolet led markers. In 2018 International Conference on Unmanned Aircraft Systems (ICUAS). 2018, 1217–1226. BibTeX

    @inproceedings{walter2018fast,
    	title = "Fast mutual relative localization of uavs using ultraviolet led markers",
    	author = "Walter, Viktor and Saska, Martin and Franchi, Antonio",
    	booktitle = "2018 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	pages = "1217--1226",
    	year = 2018,
    	organization = "IEEE"
    }
    
  10. Viktor Walter, Nicolas Staub, Martin Saska and Antonio Franchi. Mutual localization of uavs based on blinking ultraviolet markers and 3d time-position hough transform. In 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE). 2018, 298–303. BibTeX

    @inproceedings{walter2018mutual,
    	title = "Mutual localization of uavs based on blinking ultraviolet markers and 3d time-position hough transform",
    	author = "Walter, Viktor and Staub, Nicolas and Saska, Martin and Franchi, Antonio",
    	booktitle = "2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)",
    	pages = "298--303",
    	year = 2018,
    	organization = "IEEE"
    }
    
  11. Robert Pěnička, Jan Faigl and Martin Saska. Variable neighborhood search for the set orienteering problem and its application to other orienteering problem variants. European Journal of Operational Research 276(3):816–825, 2019. BibTeX

    @article{pvenivcka2019variable,
    	title = "Variable neighborhood search for the set orienteering problem and its application to other orienteering problem variants",
    	author = "P{\v{e}}ni{\v{c}}ka, Robert and Faigl, Jan and Saska, Martin",
    	journal = "European Journal of Operational Research",
    	volume = 276,
    	number = 3,
    	pages = "816--825",
    	year = 2019,
    	publisher = "Elsevier"
    }
    
  12. Robert Pěnička, Jan Faigl, Martin Saska and Petr Váňa. Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle. Autonomous Robots 43(8):1937–1956, 2019. BibTeX

    @article{pvenivcka2019data,
    	title = "Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle",
    	author = "P{\v{e}}ni{\v{c}}ka, Robert and Faigl, Jan and Saska, Martin and V{\'a}{\v{n}}a, Petr",
    	journal = "Autonomous Robots",
    	volume = 43,
    	number = 8,
    	pages = "1937--1956",
    	year = 2019,
    	publisher = "Springer"
    }
    
  13. Wojciech Giernacki, Dariusz Horla, Tomáš Báča and Martin Saska. Real-Time Model-Free Minimum-Seeking Autotuning Method for Unmanned Aerial Vehicle Controllers Based on Fibonacci-Search Algorithm. Sensors 19(2):312, 2019. BibTeX

    @article{giernacki2019real,
    	title = "Real-Time Model-Free Minimum-Seeking Autotuning Method for Unmanned Aerial Vehicle Controllers Based on Fibonacci-Search Algorithm",
    	author = "Giernacki, Wojciech and Horla, Dariusz and B{\'a}{\v{c}}a, Tom{\'a}{\v{s}} and Saska, Martin",
    	journal = "Sensors",
    	volume = 19,
    	number = 2,
    	pages = 312,
    	year = 2019,
    	publisher = "Multidisciplinary Digital Publishing Institute"
    }
    
  14. David Zahrádka, Robert Pěnička and Martin Saska. Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint. In International Conference on Modelling and Simulation for Autonomous Systesm. 2018, 365–389. BibTeX

    @inproceedings{zahradka2018route,
    	title = "Route Planning for Teams of Unmanned Aerial Vehicles Using Dubins Vehicle Model with Budget Constraint",
    	author = "Zahr{\'a}dka, David and P{\v{e}}ni{\v{c}}ka, Robert and Saska, Martin",
    	booktitle = "International Conference on Modelling and Simulation for Autonomous Systesm",
    	pages = "365--389",
    	year = 2018,
    	organization = "Springer"
    }
    
  15. Petr Ješke, Štěpán Klouček and Martin Saska. Autonomous Compact Monitoring of Large Areas Using Micro Aerial Vehicles with Limited Sensory Information and Computational Resources. In International Conference on Modelling and Simulation for Autonomous Systesm. 2018, 158–171. BibTeX

    @inproceedings{jevske2018autonomous,
    	title = "Autonomous Compact Monitoring of Large Areas Using Micro Aerial Vehicles with Limited Sensory Information and Computational Resources",
    	author = "Je{\v{s}}ke, Petr and Klou{\v{c}}ek, {\v{S}}t{\v{e}}p{\'a}n and Saska, Martin",
    	booktitle = "International Conference on Modelling and Simulation for Autonomous Systesm",
    	pages = "158--171",
    	year = 2018,
    	organization = "Springer"
    }
    
  16. Alexander Dubeň, Robert Pěnička and Martin Saska. Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight. In International Conference on Modelling and Simulation for Autonomous Systesm. 2018, 172–201. BibTeX

    @inproceedings{dubevn2018information,
    	title = "Information Gathering Planning with Hermite Spline Motion Primitives for Aerial Vehicles with Limited Time of Flight",
    	author = "Dube{\v{n}}, Alexander and P{\v{e}}ni{\v{c}}ka, Robert and Saska, Martin",
    	booktitle = "International Conference on Modelling and Simulation for Autonomous Systesm",
    	pages = "172--201",
    	year = 2018,
    	organization = "Springer"
    }
    
  17. Václav Pritzl, Lukáš Vojtěch, Marek Neruda and Martin Saska. Real-Time Localization of Transmission Sources by a Formation of Helicopters Equipped with a Rotating Directional Antenna. In International Conference on Modelling and Simulation for Autonomous Systesm. 2018, 335–350. BibTeX

    @inproceedings{pritzl2018real,
    	title = "Real-Time Localization of Transmission Sources by a Formation of Helicopters Equipped with a Rotating Directional Antenna",
    	author = "Pritzl, V{\'a}clav and Vojt{\v{e}}ch, Luk{\'a}{\v{s}} and Neruda, Marek and Saska, Martin",
    	booktitle = "International Conference on Modelling and Simulation for Autonomous Systesm",
    	pages = "335--350",
    	year = 2018,
    	organization = "Springer"
    }
    
  18. Tomas Baca, Martin Jilek, Petr Manek, Petr Stibinger, Vladimir Linhart, Jan Jakubek and Martin Saska. Timepix Radiation Detector for Autonomous Radiation Localization and Mapping by Micro Unmanned Vehicles. In IEEE/RSJ IROS. 2019. BibTeX

    @inproceedings{baca2019classification,
    	title = "Timepix Radiation Detector for Autonomous Radiation Localization and Mapping by Micro Unmanned Vehicles",
    	author = "Baca, Tomas and Jilek, Martin and Manek, Petr and Stibinger, Petr and Linhart, Vladimir and Jakubek, Jan and Saska, Martin",
    	booktitle = "IEEE/RSJ IROS",
    	year = 2019
    }