MS
Martin Saska
cs.ROcs.SYeess.SYcs.AIcs.MAcs.CVcs.LGeess.SPunmanned aerial vehicleAircraft
On Valency
published · living versionsW_3959ynnr·v1 · currentpublished
ForagerSim: Evaluating Embodied Map-Based Reasoning in Large-Scale Dynamic Worlds
with Tomáš Musil, Martin Kotík, Michal Vavrečka, Karla Štěpánová +1
1 version
Preprints & journals
97 papers in the corpus · 2019–2026ForagerSim: Evaluating Embodied Map-Based Reasoning in Large-Scale Dynamic Worlds2610.26395v1 · Tom'as Musil, Martin Kot'ik, Michal Vavrecka et al.2026 · 0 citationsarXivon Valency
NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments2610.08695v1 · Ondrej Proch'azka, Juraj Pauko, Robert Penicka et al.2026 · 0 citationsarXiv
Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation2609.39611v1 · Michal Pliska, Matous Vrba, Ondrej V'ita et al.2026 · 0 citationsarXiv
L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control2609.38467v1 · Luk'as Kotek, Ondrej Proch'azka, Vojtech Von'asek et al.2026 · 0 citationsarXiv
Dynamical Vehicle Orienteering Problem for Multi-Rotor Unmanned Aerial Vehicles2607.13789v1 · Frantisek Nekov'ar, Matej Novosad, Martin Saska et al.2026 · 0 citationsarXiv
Motor Angular Speed Preintegration for Multirotor UAV State Estimation2606.19929v1 · Matej Petrl'ik, Filip Nov'ak, Robert Penicka et al.2026 · 0 citationsarXiv
Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference2603.28467v2 · Giuseppe Silano, Daniel Bonilla Licea, Davide Liuzza et al.2026 · 0 citationsIEEE Transactions on Vehicular Technology, 2026
Autonomous Inspection of Power Line Insulators with UAV on an Unmapped Transmission Tower2602.24011v1 · V'aclav Riss, V'it Kr'atk'y, Robert Penicka et al.2026 · 0 citationsarXiv
Position-Based Flocking for Persistent Alignment without Velocity Sensing2602.22154v1 · Hossein B. Jond, Veli Bak\irc\ioglu, Logan E. Beaver et al.2026 · 0 citationsarXiv
FDA Flocking: Future Direction-Aware Flocking via Velocity Prediction2602.04012v1 · Hossein B. Jond, Martin Saska2026 · 0 citationsarXiv
Onboard UAV State Estimation for Fast Flights Without External Localization Systems: A2RL Drone Racing Finalist Approach2602.01860v2 · Filip Nov'ak, Matej Petrl'ik, Matej Novosad et al.2026 · 0 citationsarXiv
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning2511.17299v2 · Tom'as Musil, Matej Petrl'ik, Martin Saska2025 · 0 citationsarXiv
RADRON: Cooperative Localization of Ionizing Radiation Sources by MAVs with Compton Cameras2510.26018v1 · Petr Stibinger, Tomas Baca, Daniela Doubravova et al.2025 · 0 citationsarXiv
Degradation-Aware Cooperative Multi-Modal GNSS-Denied Localization Leveraging LiDAR-Based Robot Detections2510.20480v2 · V'aclav Pritzl, Xianjia Yu, Tomi Westerlund et al.2025 · 0 citationsarXiv
FIMD: Fast Isolated Marker Detection for UV-Based Visual Relative Localisation in Agile UAV Swarms2510.19663v2 · Vojtech Vrba, Viktor Walter, Petr Step'an et al.2025 · 0 citationsAuton Robot 49, 13 (2025)
Simultaneous learning of state-to-state minimum-time planning and control2510.20008v1 · Swati Dantu, Robert Penicka, Martin Saska2025 · 0 citationsarXiv
Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance2510.12924v2 · Pavel Pochobradsk'y, Ondrej Proch'azka, Robert Penicka et al.2025 · 0 citationsarXiv
Kilometer-Scale GNSS-Denied UAV Navigation via Heightmap Gradients: A Winning System from the SPRIN-D Challenge2510.01348v2 · Michal Werner, David Capek, Tom'as Musil et al.2025 · 2 citationsarXiv
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle2509.10692v4 · Giuseppe Silano, Amr Afifi, Martin Saska et al.2025 · 2 citationsJournal of Intelligent & Robotic Systems, volume 112, article number 66, 2026
Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot2508.16460v1 · Jiri Horyna, Roland Jung, Stephan Weiss et al.2025 · 3 citationsIEEE RA-L 10():6207-6214, June 2025
Towards Fully Onboard State Estimation and Trajectory Tracking for UAVs with Suspended Payloads2508.11547v2 · Martin Jirousek, Tom'as B'aca, Martin Saska2025 · 0 citationsProceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2025), Vol. 2, SciTePress, pp. 128-138, 2025
Free-Space Optical Communication-Driven NMPC Framework for Multi-Rotor Aerial Vehicles in Structured Inspection Scenarios2507.04443v1 · Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti et al.2025 · 0 citationsarXiv
Flatness-based Finite-Horizon Multi-UAV Formation Trajectory Planning and Directionally Aware Collision Avoidance Tracking2506.23129v2 · Hossein B. Jond, Logan Beaver, Martin Jirousek et al.2025 · 5 citationsarXiv
LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles2506.02169v2 · Parakh M. Gupta, Ondrej Proch'azka, Jan Hrebec et al.2025 · 1 citationarXiv
On rapid parallel tuning of controllers of a swarm of MAVs -- distribution strategies of the updated gains2505.07523v1 · Dariusz Horla, Wojciech Giernacki, V'it Kr'atk'y et al.2025 · 1 citation2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2024, pp. 1182-1188
Aerial Robots Persistent Monitoring and Target Detection: Deployment and Assessment in the Field2504.18832v2 · Manuel Boldrer, Vit Kratky, Martin Saska2025 · 1 citationarXiv
Distributed Lloyd-Based algorithm for uncertainty-aware multi-robot under-canopy flocking2504.18840v3 · Manuel Boldrer, Vit Kratky, Viktor Walter et al.2025 · 2 citationsarXiv
Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets2503.14184v1 · Atharva Ghotavadekar, Frantisek Nekov'ar, Martin Saska et al.2025 · 7 citationsIEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1249-1256, Feb. 2025
CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV2502.21303v1 · Parakh M. Gupta, Ondrej Proch'azka, Tiago Nascimento et al.2025 · 6 citationsin IEEE Robotics and Automation Letters, Feb. 2025
FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy2502.05038v1 · David Capek, Jan Hrnc'ir, Tom'as B'aca et al.2025 · 3 citationsarXiv
Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization2502.01172v2 · Tim Felix Lakemann, Daniel Bonilla Licea, Viktor Walter et al.2025 · 1 citationRobotics and Autonomous, Volume 194, December 2025, 105175
Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat2412.07332v1 · Ondrej Proch'azka, Filip Nov'ak, Tom'as B'aca et al.2024 · 31 citationsOcean Engineering 313:119164, 2024
Bio-inspired visual relative localization for large swarms of UAVs2412.02393v1 · Martin Kr'izek, Matous Vrba, Antonella Barisi'c Kulas et al.2024 · 2 citations2024 IEEE International Conference on Robotics and Automation
Proximal Control of UAVs with Federated Learning for Human-Robot Collaborative Domains2412.02863v2 · Lucas Nogueira Nobrega, Ewerton de Oliveira, Martin Saska et al.2024 · 6 citationsarXiv
A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles2412.02874v1 · Davi Santos, Martin Saska, Tiago Nascimento2024 · 8 citationsarXiv
A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration2412.02881v1 · Thulio Amorim, Tiago Nascimento, Akash Chaudhary et al.2024 · 5 citationsarXiv
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments2412.00603v2 · Vit Kratky, Robert Penicka, Jiri Horyna et al.2024 · 2 citationsarXiv
Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles2411.01985v1 · Daniel Bonilla Licea, Giuseppe Silano, Hajar El Hammouti et al.2024 · 5 citationsarXiv
Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study2410.06620v2 · Giuseppe Silano, Alvaro Caballero, Davide Liuzza et al.2024 · 0 citationsarXiv
Autonomous localization of multiple ionizing radiation sources using miniature single-layer Compton cameras onboard a group of micro aerial vehicles2410.06693v2 · Michal Werner, Tom'as B'aca, Petr Stibinger et al.2024 · 3 citations2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
State estimation of marine vessels affected by waves by unmanned aerial vehicles2410.05186v2 · Filip Nov'ak, Tom'as B'aca, Ondrej Proch'azka et al.2024 · 12 citationsOcean Engineering 323:120606, 2025
Real-time Planning of Minimum-time Trajectories for Agile UAV Flight2409.16074v2 · Krystof Teissing, Matej Novosad, Robert Penicka et al.2024 · 4 citationsarXiv
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study2409.12713v2 · Giuseppe Silano, Alvaro Caballero, Davide Liuzza et al.2024 · 3 citationsRobotics and Autonomous Systems, 2025
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance2408.15046v1 · Jeppe Heini Mikkelsen, Vit Kratky, Roberto Galeazzi et al.2024 · 0 citationsarXiv
Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping2408.09753v2 · Daniel Bonilla Licea, Hajar El Hammouti, Giuseppe Silano et al.2024 · 5 citationsGLOBECOM 2024 - 2024 IEEE Global Communications Conference
Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves2408.10163v2 · Filip Nov'ak, Tom'as B'aca, Ondrej Proch'azka et al.2024 · 11 citations21st International Conference on Informatics in Control, Automation and Robotics - Volume 1. 2024. p. 545-554. 21. vol. 1. ISSN 2184-2809. ISBN 978-989-758-717-7
Intuitive Human-Robot Interface: A 3-Dimensional Action Recognition and UAV Collaboration Framework2408.09232v1 · Akash Chaudhary, Tiago Nascimento, Martin Saska2024 · 1 citationarXiv
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles2407.09812v1 · Michal Minarik, Robert Penicka, Vojtech Vonasek et al.2024 · 24 citationsarXiv
Cooperative Indoor Exploration Leveraging a Mixed-Size UAV Team with Heterogeneous Sensors2407.09206v2 · Michaela Cihl'arov'a, V'aclav Pritzl, Martin Saska2024 · 2 citationsarXiv
Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers2407.08580v2 · Filip Nov'ak, Tom'as B'aca, Martin Saska2024 · 8 citations2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024). p. 3425-3432. ISSN 2153-0866. ISBN 979-8-3503-7770-5
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