A5012582868- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Distributed Control Multi-Agent Systems
- UAV Applications and Optimization
- Modular Robots and Swarm Intelligence
- Robot Manipulation and Learning
- Optical Wireless Communication Technologies
- Indoor and Outdoor Localization Technologies
- Robotics and Automated Systems
Czech Technical University in Prague
2021-2025
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced this paper. novel model a UAV neighborhood proposed to achieve robust onboard mutual perception flocking state feedback control, which designed decrease inter-agent oscillations common standard reactive models employed collective motion. The swarming methodology supplemented with an enhanced...
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for diverse range indoor and outdoor applications. The proposed UAV design is highly modular in terms used actuators, sensor configurations, even frames. allows to achieve, with minimal effort, proper experimental setup single, as well as, multi-robot scenarios. Presented are intended facilitate the transition from simulations, simplified laboratory experiments, into deployment aerial robots...
An optical inter-agent communication integrated into a relative localization system designed for the stabilization of teams Unmanned Aerial Vehicles (UAVs) is introduced in this paper. We propose an alternative channel using UV light as physical transmission medium free space. The proposed suitable implicit short-range communication. It robust against saturation and radio jamming that are bottlenecks commonly used within aerial swarms. localization-communication UVDAR-COM was verified...
A control and relative localization approach for a swarm of unmanned aerial vehicles (UAVs) flying in forest environment is proposed this paper. To achieve robust mutual agents such an obstacle-rich environment, we propose decentralized based on comparison the workspace observation by onboard sensors cooperating UAVs. We sharing sparse local obstacle maps to estimate bearing distance between members fitting spacialy time-distributed scans. Moreover, fully flocking rules adapted deployment...
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility proposed approach is particularly evident mobile robotics, where agents benefit from being organized and navigated for a variety real-world applications requiring frequent alterations shape efficient navigation or task completion. Given constrained operational time inherent battery-powered...
Collaborative payload carrying by multi-rotor Unmanned Aerial Vehicles (UAVs) is presented in this paper. We propose a unique control strategy for pair of UAVs operating with beam-type that independent precise localization techniques or unconventional sensor equipment, allowing the system to be operable outside laboratory environments. The designed comes out dynamics coupled system, which corresponds bicopter aerial vehicle. Such configuration allows use estimation and methods typical...
Within the field of multi-robot systems, developing systems that rely only on onboard sensing without use external infrastructure (e.g. GNSS) has many potential applications. However, relying visual-based modalities for localization presents challenges in terms accuracy and reliability. We introduce a decentralized lateral velocity estimation method Unmanned Aerial Vehicles (UAVs) to improve measurements case GNSS is not available. This relies sharing neighbors, as well relative motion focal...
Swarm behaviors offer scalability and robustness to failure through a decentralized distributed design. When designing coherent group motion as in swarm flocking, virtual potential functions are widely used mechanism ensure the aforementioned properties. However, arbitrating different sources real-time has proven be difficult. Such arbitration is often affected by fine tuning of control parameters select among manually set cut-offs achieve balance between stability velocity. A reliance on...
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in large range of indoor and outdoor applications. The MRS features unique modularity with respect to changes actuators, frames, sensory configuration. As name suggests, is specially tailored for deployment within group. contributes state-of-the-art UAV platforms by allowing smooth real-world multiple aerial robots, as well outperforming other its...
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage cheap micro-scale vehicles with constrained payload capacity if industrial-grade reliability precision are required. This paper investigates possibility offloading necessity to carry heavy another member UAV team while preserving desired capability...