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GRASP Special Seminar: Martin Saska, Czech Technical University in Prague, “Compact groups of cooperating micro aerial vehicles in clustered GPS-denied environment”

April 14, 2016 @ 10:30 am - 11:30 am


Deployment of large teams of Micro Aerial Vehicles (MAVs) in real world (outdoor and indoor) environment independently to external positioning systems (such as motion capture or GPS) is a consequent step in current research in the field of autonomous flying robots. The aim of this talk is to present latest results of research of fully autonomous compact flocks of MAVs, which were achieved by Multi-robot Systems group http://mrs.felk.cvut.cz/ at Czech Technical University.

In particular, stabilization, control and motion planning techniques using Model Predictive Control (MPC) for steering swarms and formations of unmanned MAVs and heterogeneous teams of Unmanned Ground Vehicles (UGVs) acting together with MAVs will be presented. The proposed approach relies on onboard visual relative localization of individual MAVs, which is designed for utilization of multi-robot teams in dynamic environments without any need for global localization or motion capture systems. Such approach aspires to be an enabling technique for deployment of compact swarms of MAVs outside laboratories that are equipped with infrastructure for precise positioning of robots.

The swarming and formation driving behavior with the visual relative localization system in the control feedback will be shown in numerous outdoor and indoor experiments inspired by search and rescue, surveillance, and environment monitoring tasks. Finally, the latest results of transfer of the designed methodology into applications of distributed localization of RF transmission sources by an MAV formation and cooperative inspection and documentation of historical sites will be presented http://mrs.felk.cvut.cz/projects/cesnet.


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Martin Saska received his MSc. degree at Czech Technical University in Prague, 2005, and his Ph.D. degree at University of Wuerzburg, Germany, within the PhD program of Elite Network of Bavaria, 2009. Since 2009, he is a research fellow at Czech Technical University in Prague, where he founded and heads the Multi-robot Systems lab (http://mrs.felk.cvut.cz/) and co-founded Center for Robotics and Autonomous Systems with more than 40 researchers cooperating in robotics (https://robotics.fel.cvut.cz/cras/). He was a visiting scholar at University of Illinois at Urbana-Champaign, USA in 2008 and at University of Pennsylvania, USA in 2012, 2014 and 2016, where he worked with Vijay Kumar’s group within GRASP lab. He is an author or co-author of more than 40 publications in peer-reviewed conferences and more than 10 publications in impacted journals, including IJRR, AURO, RAS, ASC, EJC, with > 450 citations indexed by Scholar and h-index 12. He received best paper award at ICUAS 2013 and he was best paper award honored finalist at ICRA 2008. He was program committee member of RA 2007, FLAIRS 27, IDC 2013, FLAIRS 28, ICUAS 2015, ICRA 2016, ICUAS 2016 and serves as reviewer in IEEE trans. on automatic control, IEEE trans. on automation science and engineering, Journal of intell. & robotic syst., Autonomous robots, Swarm intelligence, European journal of control, Journal of the franklin institute, Engineering and applied mathematics. His interests include cooperation and control of multi-robot systems, formation flying, and bio-inspired swarms. The main scientific target of his group is to design a multi-robot system for stabilization and navigation of compact groups of cooperating micro aerial vehicles in clustered GPS-denied environment.


April 14, 2016
10:30 am - 11:30 am
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