Vít Krátký

Vít Krátký
Czech Technical University in Prague | ČVUT · Department of Cybernetics and Robotics

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16
Publications
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122
Citations

Publications

Publications (16)
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This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on l...
Conference Paper
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Fig. 1: MRS UAV Platforms used for diverse range of real-world applications (a)-(f) and their simulated variants (g)-(l). Abstract-This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators,...
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This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtu...
Article
In this paper, we propose a solution to the non-Euclidean variant of the Traveling Salesman Problem with Neighborhoods on a Sphere (TSPNS). The introduced problem formulation is motivated by practical scenarios of employing unmanned aerial vehicles in the reflectance transformation imaging (RTI). In the RTI, a vehicle is requested to visit a set of...
Article
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The use of robotic systems, especially multi-rotor aerial vehicles, in the documentation of historical buildings and cultural heritage monuments has become common in recent years. However, the teleoperated robotic systems have significant limitations encouraging the ongoing development of autonomous unmanned aerial vehicles (UAVs). The autonomous r...
Preprint
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We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and efficiency of search-and-rescue operations in GPS-denied environments. During the contest rounds, teams of mobile rob...
Article
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This paper describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor helicopters have become commonplace in cinematography, their usage is limited to scenarios with sufficient natural light or of lighting provided by static artificial lights....
Article
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This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally applicable to an arbitrary exploration task within an unknown and unstructured subterranean environment and intercon...
Article
This paper introduces an autonomous system employing multirotor unmanned aerial vehicles for fast 3D exploration and inspection of vast, unknown, dynamic, and complex environments containing large open spaces as well as narrow passages. The system exploits the advantage of small‐size aerial vehicles capable of carrying all necessary sensors and com...
Article
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This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters, in the literature also often called unmanned aerial vehicles—UAVs or unmanned aerial system—UAS) in cluttered GPS-denied on straitened environments. The proposed method enables us to autonomously de...
Article
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A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor Unmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to access buildings is presented in this paper. RTI is a computational photographic method that captures a surface shape and color of a subject and enables its interactive re-lighting from any directio...
Article
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This letter presents a self-contained system for robust deployment of autonomous aerial vehicles in environments without access to global navigation systems and with limited lighting conditions. The proposed system, application-tailored for documentation in dark areas of large historical monuments, uses a unique and reliable aerial platform with a...
Conference Paper
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A novel system for autonomous documentation of interiors of historical buildings by a group of cooperating Unmanned Aerial Vehicles (UAVs) is presented in this paper. The main motivation of documentation of historical buildings is a necessity of monitoring of the state of frescoes, statues and paintings, where the early detection of smaller defects...
Conference Paper
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A system designed for a unique multi-robot application of closely flying formations of Unmanned Aerial Vehicles (UAVs) in indoor areas is described in this paper. The proposed solution is aimed as a tool for historians and restorers working in large historical buildings such as churches to provide an access to areas that are difficult to reach by h...
Conference Paper
Full-text available
A model predictive control and motion planning algorithm designed for autonomous documentation of large historical buildings by a formation of unmanned Aerial Vehicles (UAVs) is proposed in this paper. In the proposed approach, a self-stabilized formation of multi-rotor helicopters is employed for filming in dark conditions, where one of the UAVs c...
Conference Paper
Full-text available
A model predictive control and motion planning algorithm designed for autonomous documentation of large historical buildings by a formation of unmanned Aerial Vehicles (UAVs) is proposed in this paper. In the proposed approach, a self-stabilized formation of multi-rotor helicopters is employed for filming in dark conditions, where one of the UAVs c...

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