Tomas Baca

TL;DR: This work verifies the possibility of self-stabilization of multi-MAV groups without an external global positioning system, and deployment of the system in real-world scenarios truthfully verifies its operational constraints.

TL;DR: A novel approach for optimal trajectory tracking for unmanned aerial vehicles (UAV), using a linear model predictive controller (MPC) in combination with non-linear state feedback, which allows safe outdoors execution of multi-UAV experiments without the need for in-advance collision-free planning.

TL;DR: The performance of the proposed system was successfully evaluated in the Tunnel Circuit of the DARPA Subterranean Challenge, where the UAV cooperated with ground robots to precisely localize artifacts in a coal mine tunnel system.

TL;DR: A novel control system in which a Model Predictive Controller is used in real time to generate a reference trajectory for the UAV, which are then tracked by the nonlinear feedback controller allows to track predictions of the car motion with minimal position error.

TL;DR: A description of the multi-robot heterogeneous exploration system of the CTU-CRAS team, which scored third place in the Tunnel Circuit round, surpassing the performance of all other non-DARPA-funded competitors.