Location
An essential part of the 2020 IEEE RAS Summer School on Multi-Robot Systems is the real-world deployment of a fleet of autonomous Unmanned Aerial Vehicles (UAVs) of Multi-Robot Systems group at CTU in Prague (for details on the platform see [1-3] ). The fleet of UAVs will be controlled by a system designed by the Multi-Robot Systems group at CTU in Prague for tasks of closely cooperating drones with direct interaction with environment available (for more details on the system see [4-5] ). All participants of the Summer School will get an opportunity to design two kinds of algorithms for Multi-Robot Systems, test them during computer practicals in a Gazebo simulator and verify their functionality during the real-world deployment of a fleet of cooperating UAVs (planned on Friday, September 18). We strongly recommend studying the provided literature for all participants before the summer school to maximise possible impact. Two different tasks will be offered to be solved by all participants. After registration, participants will receive technical details about the tasks, access into a repository with a control system and guidelines to facilitate the first steps.
Leader-Follower Stabilization
A Leader-Follower approach designed for stabilization of teams of UAVs using onboard sensors only will be implemented and tested in real-world conditions during the summer school. The solution will be designed for deployment in GPS-denied conditions and where GNSS precision and reliability is not sufficient for safe flying of compact formations. For examples of using such formations for historical objects mapping, see [27], for cooperative carrying large objects [29], and for large compact formations flying [16,17,21,22,26].
Videos:
Online Multi-UAV Swarming
Nature-inspired swarming of multiple UAVs relying on onboard sensors only will be implemented and tested in real-world conditions during the summer school. The swarming rules will be obtained by combining of results of relative localisation of neighbours using onboard UV lights and cameras with filters [13-15] and onboard obstacle avoidance [4]. For examples of realisation of such bio-inspired swarms with the MRS system, see [20,23,24,25,18].
Videos:
References
@article{spurny2019jfr,
author = "Spurny, V. and Baca, T. and Saska, M. and Penicka, R. and Krajnik, T. and Thomas, J. and Thakur, D. and Loianno, G. and Kumar, V.",
title = "{Cooperative Autonomous Search, Grasping and Delivering in a Treasure Hunt Scenario by a Team of UAVs}",
pages = "125-148",
volume = 36,
number = 1,
journal = "Journal of Field Robotics",
year = 2019,
pdf = "data/papers/spurny2018jfr.pdf"
}
[2] G Loianno, V Spurny, T Baca, J Thomas, D Thakur, 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. PDF BibTeX
@article{loianno2018ral,
author = "G. Loianno and V. Spurny and T. Baca and J. Thomas and D. Thakur and T. Krajnik and A. Zhou and A. Cho and M. Saska and V. Kumar",
journal = "IEEE Robotics and Automation Letters",
title = "Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments",
volume = 3,
number = 3,
pages = "1576-1583",
year = 2018,
pdf = "data/papers/ral2018Loianno.pdf"
}
[3] T Baca, P Stepan, V Spurny, D Hert, R Penicka, M Saska, J Thomas, G Loianno and V Kumar. Autonomous Landing on a Moving Vehicle with an Unmanned Aerial Vehicle. Journal of Field Robotics, 2019. PDF BibTeX
@article{baca2019jfr,
author = "T. Baca and P. Stepan and V. Spurny and M. Saska and J. Thomas and G. Loianno and V. Kumar",
title = "Autonomous Landing on a Moving Vehicle with an Unmanned Aerial Vehicle",
journal = "Journal of Field Robotics - online first",
year = 2019,
pdf = "data/papers/jfr_2018_landing.pdf"
}
[4] 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. PDF BibTeX
@inproceedings{baca2018iros,
author = "Tomas Baca and Daniel Hert and Giuseppe Loianno and Martin Saska and Vijay Kumar",
booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
title = "Model Predictive Trajectory Tracking and Collision Avoidance for Reliable Outdoor Deployment of Unmanned Aerial Vehicles",
year = 2018,
pdf = "data/papers/ral2018mpctracker.pdf"
}
[5] T Baca, G Loianno and M Saska. Embedded Model Predictive Control of Unmanned Micro Aerial Vehicles. In 21st International Conference on Methods and Models in Automation and Robotics (MMAR). 2016. PDF BibTeX
@inproceedings{baca2016mmar,
author = "Baca, T. and Loianno, G. and Saska, M.",
title = "Embedded Model Predictive Control of Unmanned Micro Aerial Vehicles",
booktitle = "21st International Conference on Methods and Models in Automation and Robotics (MMAR)",
year = 2016,
pdf = "data/papers/tomas_baca_mmar_2016.pdf"
}
[6] 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, 2019. PDFBibTeX
@article{penicka_ejor_2019_vns_sop,
author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska",
title = "Variable Neighborhood Search for the Set Orienteering Problem and its application to other Orienteering Problem variants",
journal = "European Journal of Operational Research",
volume = 276,
number = 3,
pages = "816 - 825",
year = 2019,
pdf = "data/papers/penicka_ejor_2019_vns_sop.pdf"
}
[7] 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, February 2019. PDF BibTeX
@article{penicka_auro_2019_vns_dopn,
author = "Robert P{\v{e}}ni{\v{c}}ka and Jan Faigl and Martin Saska and Petr V{\'a}{\v{n}}a",
title = "Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle",
journal = "Autonomous Robots",
year = 2019,
pdf = "data/papers/penicka_auro_2019_vns_dopn.pdf"
}
[8] J Faigl, P Vana, R Penicka and M Saska. Unsupervised Learning based Flexible Framework for Surveillance Planning with Aerial Vehicles. Accepted to Autonomous Robots, 2018. PDF BibTeX
@article{faigl2019jfr,
author = "Faigl, J. and Vana, P. and Penicka, R. and Saska, M.",
title = "{Unsupervised Learning based Flexible Framework for Surveillance Planning with Aerial Vehicles}",
pages = "270-301",
volume = 36,
number = 1,
journal = "Journal of Field Robotics",
year = 2019,
pdf = "data/papers/faigl2018jfr.pdf"
}
[9] Robert Pěnička, Jan Faigl, Petr Váňa and Martin Saska. Dubins Orienteering Problem. IEEE Robotics and Automation Letters 2(2):1210-1217, 2017. PDF BibTeX
@article{penicka_ral_dop,
author = "Robert P\v{e}ni\v{c}ka and Jan Faigl and Petr V\'{a}\v{n}a and Martin Saska",
journal = "IEEE Robotics and Automation Letters",
title = "Dubins Orienteering Problem",
year = 2017,
volume = 2,
number = 2,
pages = "1210-1217",
url = "http://mrs.felk.cvut.cz/icra17dop",
doi = "10.1109/LRA.2017.2666261",
issn = "2377-3766",
month = "April",
pdf = "data/papers/ral2017dop.pdf"
}
[10] Robert Pěnička, Martin Saska, Christophe Reymann and Simon Lacroix. Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs. In European Conference of Mobile Robotics (ECMR). 2017. PDF BibTeX
@inproceedings{penicka_ecmr_rdtsp,
author = "Robert P\v{e}ni\v{c}ka and Martin Saska and Christophe Reymann and Simon Lacroix",
title = "Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs",
booktitle = "European Conference of Mobile Robotics (ECMR)",
year = 2017,
pages = "259-264",
url = "http://mrs.felk.cvut.cz/ecmr17rdtsp",
pdf = "data/papers/penicka2017ecmr.pdf"
}
[11] J Faigl, P Vana, M Saska, T Baca and V Spurny. On solution of the Dubins touring problem. In 2017 European Conference on Mobile Robots (ECMR). 2017, 1-6. PDF BibTeX
@inproceedings{fajgl2017ecmr,
author = "J. Faigl and P. Vana and M. Saska and T. Baca and V. Spurny",
booktitle = "2017 European Conference on Mobile Robots (ECMR)",
title = "On solution of the Dubins touring problem",
year = 2017,
pages = "1-6",
pdf = "data/papers/faigl2017ecmr.pdf"
}
[12] Robert Pěnička, Jan Faigl, Petr Váňa and Martin Saska. Dubins orienteering problem with neighborhoods. In International Conference on Unmanned Aircraft Systems (ICUAS). 2017. PDF BibTeX
@inproceedings{penicka2017icuas,
author = "Robert Pěnička and Jan Faigl and Petr Váňa and Martin Saska",
booktitle = "International Conference on Unmanned Aircraft Systems (ICUAS)",
title = "Dubins orienteering problem with neighborhoods",
year = 2017,
pdf = "data/papers/penicka2017icuas.pdf"
}
[13] V. Walter, N. Staub, A. Franchi, and M. Saska, “Uvdar system for visual relative localization with application to leader-follower formations of multirotor uavs,” Accepted in IEEE Robotics and Automation Letters, 2019. PDF BibTeX
@article{walterRAL2019,
author = "V. Walter and N. Staub and A. Franchi and M. Saska",
title = "{UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs}",
journal = "IEEE RAL - online first",
year = 2019,
pdf = "data/papers/walterRAL2019.pdf"
}
[14] V Walter, M Saska, N Staub and A Franchi. Mutual Localization of UAVs based on Blinking Ultraviolet Markers and 3D Time-Position Hough Transform. In IEEE CASE. 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
}
[15] V Walter, M Saska and A Franchi. Fast mutual relative localization of uavs using ultraviolet led markers. In 2018 International Conference of Unmanned Aircraft System (ICUAS 2018). 2018. PDF BibTeX
@inproceedings{walter2018icuas,
author = "V. Walter and M. Saska and A. Franchi",
title = "Fast mutual relative localization of uavs using ultraviolet led markers",
booktitle = "2018 International Conference of Unmanned Aircraft System (ICUAS 2018)",
year = 2018,
pdf = "data/papers/walter2018icuas.pdf"
}
[16] M Saska, V Vonasek, T Krajnik and L Preucil. Coordination and Navigation of Heterogeneous MAV–UGV Formations Localized by a ‘hawk-eye’-like Approach Under a Model Predictive Control Scheme. International Journal of Robotics Research 33(10):1393–1412, 2014. PDF BibTeX
@article{saska2014jfr,
author = "Saska, M. and Vonasek, V. and Krajnik, T. and Preucil, L.",
title = "{Coordination and Navigation of Heterogeneous MAV\&\#8211;UGV Formations Localized by a \&\#8216;hawk-eye\&\#8217;-like Approach Under a Model Predictive Control Scheme}",
journal = "International Journal of Robotics Research",
year = 2014,
volume = 33,
number = 10,
pages = "1393--1412",
pdf = "data/papers/IJRR2014.pdf"
}
[17] M Saska, T Baca, J Thomas, J Chudoba, L Preucil, T Krajnik, J Faigl, G Loianno and V Kumar. System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization. Autonomous Robots 41(4):919–944, 2017. PDF BibTeX
@article{saska2016auro,
author = "Saska, M. and Baca, T. and Thomas, J. and Chudoba, J. and Preucil, L. and Krajnik, T. and Faigl, J. and Loianno, G. and Kumar, V.",
title = "{System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization}",
journal = "Autonomous Robots",
year = 2017,
volume = 41,
number = 4,
pages = "919--944",
pdf = "data/papers/AURO2016.pdf"
}
[18] M Saska, V Vonásek, J Chudoba, J Thomas, G Loianno and V Kumar. Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles. Journal of Intelligent & Robotic Systems. 84(1):469–492, 2016. PDF BibTeX
@article{saska2016jint,
author = "Saska, M. and Von{\'a}sek, V. and Chudoba, J. and Thomas, J. and Loianno, G. and Kumar, V.",
title = "Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles",
journal = "Journal of Intelligent \& Robotic Systems.",
volume = 84,
number = 1,
pages = "469--492",
year = 2016,
pdf = "data/papers/SaskaJINT2016.pdf"
}
[19] 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, 2014. PDF BibTeX
@article{saska2014jint,
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",
pdf = "data/papers/JINT14_failure.pdf"
}
[20] Daniel Brandtner and Martin Saska. Coherent swarming of unmanned micro aerial vehicles with minimum computational and communication requirements. In ECMR. 2017. PDF BibTeX
@inproceedings{brandtner2017ecmr,
author = "Daniel Brandtner and Martin Saska",
title = "Coherent swarming of unmanned micro aerial vehicles with minimum computational and communication requirements",
booktitle = "ECMR",
year = 2017,
pdf = "data/papers/brandtner2017ecmr.pdf"
}
[21] M Saska, T Baca and D Hert. Formations of Unmanned Micro Aerial Vehicles Led by Migrating Virtual Leader. In 14th International Conference on Control, Automation, Robotics and Vision (ICARCV). 2016. PDF BibTeX
@inproceedings{saska2016icarcv,
author = "Saska, M. and Baca, T. and Hert, D.",
title = "Formations of Unmanned Micro Aerial Vehicles Led by Migrating Virtual Leader",
booktitle = "14th International Conference on Control, Automation, Robotics and Vision (ICARCV)",
year = 2016,
pdf = "data/papers/ICARCV2016.pdf"
}
[22] V Spurny, T Baca and M Saska. Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control. In 21st International Conference on Methods and Models in Automation and Robotics (MMAR). 2016. PDF BibTeX
@inproceedings{spurny2016mmar,
author = "V. Spurny and T. Baca and M. Saska",
booktitle = "21st International Conference on Methods and Models in Automation and Robotics (MMAR)",
title = "Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control",
year = 2016,
pdf = "data/papers/vojtech_spurny_mmar16.pdf"
}
[23] M Saska. MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization. In International Conference on Unmanned Aircraft Systems (ICUAS). 2015. PDF BibTeX
@inproceedings{saska2015icuas,
author = "Saska, M.",
title = "{MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization}",
booktitle = "{International Conference on Unmanned Aircraft Systems (ICUAS)}",
year = 2015,
pdf = "data/papers/icuas2015.pdf"
}
[24] M Saska, J Vakula and L Preucil. Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization. In IEEE International Conference on Robotics and Automation (ICRA). 2014. PDF BibTeX
@inproceedings{saska2014icra,
author = "Saska, M. and Vakula, J. and Preucil, L.",
title = "{Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization}",
booktitle = "{IEEE International Conference on Robotics and Automation (ICRA)}",
year = 2014,
pdf = "data/papers/ICRA2014escape_short-joined.pdf"
}
[25] 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 International Conference on Unmanned Aircraft Systems (ICUAS). 2014. PDF BibTeX
@inproceedings{saska2014icuas,
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 = "{International Conference on Unmanned Aircraft Systems (ICUAS)}",
year = 2014,
pdf = "data/papers/icuas2014-joined.pdf"
}
[26] M Saska, Z Kasl and L Preucil. Motion Planning and Control of Formations of Micro Aerial Vehicles. In 19th World Congress of the International Federation of Automatic Control (IFAC). 2014. PDF BibTeX
@inproceedings{saska2014ifac,
author = "Saska, M. and Kasl, Z. and Preucil, L.",
title = "{Motion Planning and Control of Formations of Micro Aerial Vehicles}",
booktitle = "{19th World Congress of the International Federation of Automatic Control (IFAC)}",
publisher = "IFAC",
year = 2014,
pdf = "data/papers/ifac2014-crop-joined.pdf"
}
[27] M Saska, V Kratky, V Spurny and T Baca. Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control. In IEEE ETFA. 2017. PDF BibTeX
@inproceedings{saska17etfa,
author = "M. Saska and V. Kratky and V. Spurny and T. Baca",
title = "Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control",
booktitle = "IEEE ETFA",
year = 2017,
pdf = "data/papers/saska17etfa.pdf"
}
[28] J Faigl, P Váňa, R Pěnička, M Saska. Unsupervised learning‐based flexible framework for surveillance planning with aerial vehicles. Journal of Field Robotics. 2019; 36: 270– 301. PDF BibTeX
@article{doi:10.1002/rob.21823,
author = {Faigl, Jan and Váňa, Petr and Pěnička, Robert and Saska, Martin},
title = {Unsupervised learning-based flexible framework for surveillance planning with aerial vehicles},
journal = {Journal of Field Robotics},
volume = {36},
number = {1},
pages = {270-301},
doi = {10.1002/rob.21823},
url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21823},
year = {2019}
}
[29] V Spurný, M Petrlík, V Vonásek and M 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.PDF BibTeX
@inproceedings{spurny_etfa19,
author = "V. Spurn\'{y} and M. Petrl\'{i}k and V. Von\'{a}sek and M. Saska",
booktitle = "2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)",
title = "Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning",
year = 2019,
volume = "",
number = "",
pages = "955-962",
keywords = "Planning;Task analysis;Reliability;Robot kinematics;State estimation;Trajectory",
doi = "10.1109/ETFA.2019.8869298",
url = "https://ieeexplore.ieee.org/document/8869298",
pdf = "data/papers/spurny_etfa2019.pdf",
issn = "",
month = "Sep."
}