Martin Saska - Presentation of the Multi-Robot Systems Group and its research

A recorded presentation from the IEEE RAS Summer School 2022 on Multi-Robot Systems by Martin Saska.

00:00 - Introduction
01:54 - MRS Team Members
12:52 - Swarms Of Micro Aerial Vehicles In Forest
19:04 - MRS UAV System
20:00 - Dronebuilder by Fly4Future
20:43 - UVDAR System
27:00 - Dronument
39:08 - DARPA - Tunnel Circuit
43:00 - DARPA - Urban Circuit
46:24 - DARPA - Cave Circuit
48:07 - DARPA - Final Event
50:50 - MBZIRC 2017 Competition
55:40 - MBZIRC 2020 Competition
58:05 - DOFEC
1:01:05 - EAGLE.ONE
1:05:30 - AERIAL-CORE
1:09:42 - Cooperation of UAVs and autonomous boats
1:13:50 - UAVs landing on undulating boats
1:16:30 - Q&A


An MRS open-source research UAV platform was used for experiments presented in this video. See http://mrs.felk.cvut.cz/ for details and source code of the MRS UAV platform, which enables all essential capabilities for research, development, and testing of novel methods.
For publications describing the applied system and control stack, see:
- Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. https://link.springer.com/article/10....
- T Baca, D Hert, G Loianno, M Saska and V 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, 1–8. https://ieeexplore.ieee.org/document/...

For publication describing our hardware platforms, see:
- 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.
https://ieeexplore.ieee.org/document/...

12:52 - Swarms Of Micro Aerial Vehicles In Forest
*A Ahmad, V Walter, P Petracek, M Petrlik, T Baca, D Zaitlik and M Saska. Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density. In 2021 IEEE International Conference on Robotics and Automation (ICRA). June 2021, 570–576.
*Pavel Petráček, Viktor Walter, Tomáš Báča and Martin Saska. Bio-Inspired Compact Swarms of Unmanned Aerial Vehicles without Communication and External Localization. Bioinspiration & Biomimetics 16(2):026009, December 2020.

20:43 - UVDAR System
*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.
*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.

27:00 - Dronument
*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.
*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.

39:08 - DARPA
*Matej Petrlik, Pavel Petracek, Vit Kratky, Tomas Musil, Yurii Stasinchuk, Matous Vrba, Tomas Baca, Daniel Hert, Martin Pecka, Tomas Svoboda and Martin Saska. UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT. preprint arXiv:2206.08185, 2022.

1:05:30 - AERIAL-CORE
*Giuseppe Silano, Tomas Baca, Robert Penicka, Davide Liuzza and Martin Saska. Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications. IEEE Robotics and Automation Letters 6(2):4169–4176, April 2021.
*František Nekovář, Jan Faigl and Martin Saska. Multi-tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection. IEEE Robotics and Automation Letters 6(4):6196-6203, October 2021.
*T Uzakov, T P Nascimento and M Saska. UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines. In 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece. 2020, 1301-1308.

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