Vojtech Spurny

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: An autonomous team of MAVs able to plan safe trajectories for manipulation of ferrous objects, while guaranteeing interrobot collision avoidance and automatically creating a map of the objects in the environment is demonstrated.

TL;DR: This work proposes a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously, which enables complex missions in GNSS and GNSS-denied environments.

TL;DR: In this article, a multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously is proposed, which enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources.

TL;DR: In this article, a novel approach to autonomous extinguishing of indoor fires inside a building by a micro-scale Unmanned Aerial Vehicle (MAV) is presented, in particular, controlling and estimating the MAV state, detection of a building entrance, multi-modal MAV localization during the outdoor-indoor transition, interior motion planning and exploration, fire detection and position estimation, and fire extinguishing.