Dronument: A system for documentation of historical
monuments by a team of unmanned aerial vehicles

Publications

1. P Petráček, V Krátký and M Saska. Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments. IEEE Robotics and Automation Letters 5(2):2078-2085, April 2020. PDF, DOI BibTeX

   @article{petracek2020ral,
   	author = "P. {Petr\'{a}\v{c}ek} and V. {Kr\'{a}tk\'{y}} and M. {Saska}",
   	journal = "IEEE Robotics and Automation Letters",
   	title = "Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments",
   	year = 2020,
   	volume = 5,
   	number = 2,
   	pages = "2078-2085",
   	keywords = "Aerial systems: applications; Aerial systems: Perception and autonomy;Localization",
   	doi = "10.1109/LRA.2020.2969935",
   	issn = "2377-3774",
   	month = "April",
   	pdf = "data/papers/petracek2020ral.pdf"
   }
   

2. 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"
   }
   

3. 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,
   	pages = "1--8",
   	doi = "10.1109/ETFA.2017.8247654",
   	url = "http://ieeexplore.ieee.org/document/8247654/",
   	pdf = "data/papers/saska17etfa.pdf",
   	month = "Sep."
   }
   

4. Vít Krátký, Pavel Petráček, Tiago Nascimento, Michaela Čadilová, Milan Škobrtal, Pavel Stoudek and Martin Saska. Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle. ISPRS International Journal of Geo-Information 10(11):738/1–16, October 2021. PDF, DOI BibTeX

   @article{kratky2021documentation,
   	author = "Krátký, Vít and Petráček, Pavel and Nascimento, Tiago and Čadilová, Michaela and Škobrtal, Milan and Stoudek, Pavel and Saska, Martin",
   	title = "Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle",
   	journal = "ISPRS International Journal of Geo-Information",
   	volume = 10,
   	year = 2021,
   	month = "October",
   	number = 11,
   	pages = "738/1--16",
   	issn = "2220-9964",
   	pdf = "data/papers/kratky2021dronument.pdf",
   	doi = "10.3390/ijgi10110738"
   }
   

5. Daniel Smrcka, Tomas Baca, Tiago Nascimento and Martin Saska. Admittance Force-Based UAV-Wall Stabilization and Press Exertion for Documentation and Inspection of Historical Buildings. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 552–559. PDF, DOI BibTeX

   @inproceedings{smrcka2021admittance,
   	title = "Admittance Force-Based UAV-Wall Stabilization and Press Exertion for Documentation and Inspection of Historical Buildings",
   	author = "Smrcka, Daniel and Baca, Tomas and Nascimento, Tiago and Saska, Martin",
   	booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)",
   	pages = "552--559",
   	year = 2021,
   	month = "June",
   	organization = "IEEE",
   	pdf = "data/papers/ICUAS_2021_Dan.pdf",
   	doi = "10.1109/ICUAS51884.2021.9476873"
   }
   

6. Vít Krátký, Alfonso Alcántara, Jesús Capitán, Petr Štěpán, Martin Saska and Aníbal Ollero. Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7580-7587, October 2021. PDF, DOI BibTeX

   @article{kratky2021aerialfilming,
   	author = "{Krátký}, Vít and {Alcántara}, Alfonso and {Capitán}, Jesús and {Štěpán}, Petr and {Saska}, Martin and {Ollero}, Aníbal",
   	title = "{Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles}",
   	journal = "IEEE Robotics and Automation Letters",
   	year = 2021,
   	month = "October",
   	pdf = "data/papers/aerialCinematographyRal.pdf",
   	doi = "10.1109/LRA.2021.3098811",
   	pages = "7580-7587",
   	volume = 6,
   	number = 4
   }
   

7. Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Robert Penicka, Tiago Nascimento and Martin Saska. MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022, 1264–1273. PDF, DOI BibTeX

   @inproceedings{MRS2022ICUAS_HW,
   	author = "{Hert}, Daniel and {Baca}, Tomas and {Petracek}, Pavel and {Kratky}, Vit and {Spurny}, Vojtech and {Petrlik}, Matej and {Vrba}, Matous and {Zaitlik}, David and {Stoudek}, Pavel and {Walter}, Viktor and {Stepan}, Petr and {Horyna}, Jiri and {Pritzl}, Vaclav and {Silano}, Giuseppe and {Bonilla Licea}, Daniel and {Stibinger}, Petr and {Penicka}, Robert and {Nascimento}, Tiago and {Saska}, Martin",
   	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
   	title = "{MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments}",
   	year = 2022,
   	month = "June",
   	organization = "IEEE",
   	pdf = "data/papers/ICUAS22_MRS_HW.pdf",
   	pages = "1264--1273",
   	doi = "10.1109/ICUAS54217.2022.9836083"
   }
   

8. Jindřiška Deckerová, Jan Faigl and Vít Krátký. Traveling Salesman Problem with neighborhoods on a sphere in reflectance transformation imaging scenarios. Expert Systems with Applications 198:116814, March 2022. PDF, DOI BibTeX

   @article{deckerova2022tspns,
   	author = "Deckerová, Jindřiška and Faigl, Jan and Krátký, Vít",
   	title = "Traveling Salesman Problem with neighborhoods on a sphere in reflectance transformation imaging scenarios",
   	journal = "Expert Systems with Applications",
   	volume = 198,
   	pages = 116814,
   	year = 2022,
   	month = "March",
   	issn = "0957-4174",
   	doi = "10.1016/j.eswa.2022.116814",
   	pdf = "https://www.sciencedirect.com/science/article/pii/S0957417422002718?via=ihub"
   }
   

9. V Walter, N Staub, A Franchi and M Saska. UVDAR System for Visual Relative Localization With Application to Leader–Follower Formations of Multirotor UAVs. IEEE Robotics and Automation Letters 4(3):2637-2644, July 2019. PDF, DOI BibTeX

   @article{uvdar_dirfol,
   	author = "V. {Walter} and N. {Staub} and A. {Franchi} and M. {Saska}",
   	journal = "IEEE Robotics and Automation Letters",
   	title = "UVDAR System for Visual Relative Localization With Application to Leader–Follower Formations of Multirotor UAVs",
   	year = 2019,
   	volume = 4,
   	number = 3,
   	pages = "2637-2644",
   	doi = "10.1109/LRA.2019.2901683",
   	issn = "2377-3766",
   	month = "July",
   	pdf = "data/papers/walterRAL2019.pdf"
   }
   

10. V Walter, N.Staub, M Saska and A Franchi. Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. In 14th IEEE International Conference on Automation Science and Engineering (CASE 2018). 2018. PDF BibTeX

    @inproceedings{uvdd2,
    	author = "V. Walter and N.Staub and M. Saska and A. Franchi",
    	title = "Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform",
    	booktitle = "14th IEEE International Conference on Automation Science and Engineering (CASE 2018)",
    	pdf = "data/papers/uvdd2.pdf",
    	year = 2018
    }
    

11. Vaclav Pritzl, Matous Vrba, Petr Stepan and Martin Saska. Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022, 526–535. PDF, DOI BibTeX

    @inproceedings{pritzl2022icuas,
    	author = "{Pritzl}, Vaclav and {Vrba}, Matous and {Stepan}, Petr and {Saska}, Martin",
    	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization}",
    	year = 2022,
    	month = "June",
    	organization = "IEEE",
    	pdf = "data/papers/ICUAS22_Pritzl.pdf",
    	pages = "526--535",
    	doi = "10.1109/ICUAS54217.2022.9836116"
    }
    

12. Jan Bednar, Matej Petrlik, Kelen Cristiane Teixeira Vivaldini and Martin Saska. Deployment of Reliable Visual Inertial Odometry Approaches for Unmanned Aerial Vehicles in Real-world Environment. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022. PDF, DOI BibTeX

    @inproceedings{BednarICUAS22_VIO,
    	author = "{Bednar}, Jan and {Petrlik}, Matej and {Teixeira Vivaldini}, Kelen Cristiane and {Saska}, Martin",
    	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
    	title = "{Deployment of Reliable Visual Inertial Odometry Approaches for Unmanned Aerial Vehicles in Real-world Environment}",
    	year = 2022,
    	month = "June",
    	organization = "IEEE",
    	doi = "10.1109/ICUAS54217.2022.9836067",
    	pdf = "data/papers/ICUAS22_VIO_Bednar.pdf"
    }
    

13. T Musil, Matej Petrlik and Martin Saska. SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning. IEEE Robotics and Automation Letters 7(4):11007-11014, 2022. PDF, DOI BibTeX

    @article{musil2022spheremap,
    	author = "T. Musil and Petrlik, Matej and Saska, Martin",
    	journal = "IEEE Robotics and Automation Letters",
    	title = "{SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning}",
    	year = 2022,
    	volume = 7,
    	number = 4,
    	pages = "11007-11014",
    	pdf = "data/papers/musil2022ral.pdf",
    	doi = "10.1109/LRA.2022.3195194"
    }
    

Secondary research activities

• Workshop presented at IROS 2018, Documentation Of Historical Buildings With the Usage of Model Predictive Control.