Search results for: Jan Faigl

Items from 1 to 20 out of 58 results

article

Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle

Robert Pěnička, Jan Faigl, Martin Saska, Petr Váňa

Autonomous Robots > 2019 > 43 > 8 > 1937-1956

Data collection missions are one of the many effective use cases of unmanned aerial vehicles (UAVs), where the UAV is required to visit a predefined set of target locations to retrieve data. However, the flight time of a real UAV is time constrained, and therefore only a limited number of target locations can typically be visited within the mission. In this paper, we address the data collection planning...

article

Unsupervised learning‐based flexible framework for surveillance planning with aerial vehicles

Jan Faigl, Petr Váňa, Robert Pěnička, Martin Saska

Journal of Field Robotics > 36 > 1 > 270 - 301

The herein studied problem is motivated by practical needs of our participation in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 in which a team of unmanned aerial vehicles (UAVs) is requested to collect objects in the given area as quickly as possible and score according to the rewards associated with the objects. The mission time is limited, and the most time‐consuming operation...

article

GSOA: Growing Self-Organizing Array - Unsupervised learning for the Close-Enough Traveling Salesman Problem and other routing problems

Jan Faigl

Neurocomputing > 2018 > 312 > C > 120-134

This paper presents a novel unsupervised learning procedure called the Growing Self-Organizing Array (GSOA) that is inspired by principles of the self-organizing maps for the Traveling Salesman Problem (TSP). The proposed procedure is a consolidation of principles deployed in solution of several variants of the generalized TSP with Neighborhoods (TSPN) for which the main ideas of the proposed unsupervised...

article

Analysis of Using Mixed Reality Simulations for Incremental Development of Multi-UAV Systems

Martin Selecký, Jan Faigl, Milan Rollo

Journal of Intelligent & Robotic Systems > 2019 > 95 > 1 > 211-227

Developing complex robotic systems requires expensive and time-consuming verification and testing which, especially in a case of multi-robot unmanned aerial systems (UASs), aggregates risk of hardware failures and may pose legal issues in experiments where operating more than one unmanned aircraft simultaneously is required. Thus, it is highly favorable to find and resolve most of the eventual design...

article

Guest editorial: Special issue on online decision making in multi-robot coordination

Jen Jen Chung, Jan Faigl, Geoffrey A. Hollinger

Autonomous Robots > 2018 > 42 > 4 > 687-689

article

Online planning for multi-robot active perception with self-organising maps

Graeme Best, Jan Faigl, Robert Fitch

Autonomous Robots > 2018 > 42 > 4 > 715-738

We propose a self-organising map (SOM) algorithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks. We optimise paths for a multi-robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting associated viewpoint regions defined by a sensor model. The key problem characteristics are that...

chapter

Data collection planning with Dubins airplane model and limited travel budget

Petr Vana, Jan Faigl, Jakub Slama, Robert Penicka

2017 European Conference on Mobile Robots (ECMR) > 1 - 6

2017 European Conference on Mobile Robots (ECMR)

In this paper, we address the data collection planning problem for fixed-wing unmanned aircraft vehicle (UAV) with a limited travel budget. We formulate the problem as a variant of the Orienteering Problem (OP) in which the Dubins airplane model is utilized to extend the problem into the three-dimensional space and curvature-constrained vehicles. The proposed Dubins Airplane Orienteering Problem (DA-OP)...

chapter

On solution of the Dubins touring problem

Jan Faigl, Petr Vana, Martin Saska, Tomas Baca, more

2017 European Conference on Mobile Robots (ECMR) > 1 - 6

2017 European Conference on Mobile Robots (ECMR)

The Dubins traveling salesman problem (DTSP) combines the combinatorial optimization of the optimal sequence of waypoints to visit the required target locations with the continuous optimization to determine the optimal headings at the waypoints. Existing decoupled approaches to the DTSP are based on an independent solution of the sequencing part as the Euclidean TSP and finding the optimal headings...

chapter

Foothold placement planning with a hexapod crawling robot

Petr Cizek, Diar Masri, Jan Faigl

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 4096 - 4101

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

In this work, we concern the problem of motion planning for a hexapod walking robot crawling in a semi-structured environment where a precise foot-tip positioning is necessary. We propose pipelined approach utilizing an RGB-D camera to perceive and map the forthcoming terrain in 2.5 D which is then processed for available foot-tip positions. The robot motion control is based on sampling-based planning...

chapter

On close enough orienteering problem with Dubins vehicle

Jan Faigl, Robert Penicka

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 5646 - 5652

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

In this paper, we address a generalization of the Orienteering Problem (OP) for curvature-constrained vehicles and to problems where it is allowed to collect a reward associated to each target location within a specified distance from the target. The addressed problem combines challenges of the combinatorial optimization of the OP (to select the most rewarding targets and find the optimal sequence...

chapter

Dubins orienteering problem with neighborhoods

Robert Penicka, Jan Faigl, Petr Vana, Martin Saska

2017 International Conference on Unmanned Aircraft Systems (ICUAS) > 1555 - 1562

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

In this paper, we address the Dubins Orienteering Problem with Neighborhoods (DOPN) a novel problem derived from the regular Orienteering Problem (OP). In the OP, one tries to find a maximal reward collecting path through a subset of given target locations, each with associated reward, such that the resulting path length does not exceed the specified travel budget. The Dubins Orienteering Problem...

chapter

Mixed reality simulation for incremental development of multi-UAV systems

Martin Seleckyy, Jan Faigl, Milan Rollo

2017 International Conference on Unmanned Aircraft Systems (ICUAS) > 1530 - 1538

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

Development of complex multi-robot systems requires time-consuming and expensive testing and, especially in a case of unmanned aerial systems, it aggregates risk of hardware failures and legal issues when operating more than one unmanned aircraft simultaneously. It is highly favorable to deal with most of the eventual design flaws and system bugs before the final field tests in a simulation where...

chapter

Self-organizing map for orienteering problem with dubins vehicle

Jan Faigl

2017 12th International Workshop on Self-Organizing Maps and Learning Vector Quantization, Clustering and Data Visualization (WSOM) > 1 - 8

2017 12th International Workshop on Self-Organizing Maps and Learning Vector Quantization, Clustering and Data Visualization (WSOM)

This paper reports on the application of the self-organizing map (SOM) to solve a novel generalization of the Orienteering Problem (OP) for curvature-constrained vehicles that is called the Dubins Orienteering Problem (DOP). Having a set of target locations, each with associated reward, and a given travel budget, the problem is to find the most valuable curvature-constrained path connecting the target...

chapter

Unsupervised learning for surveillance planning with team of aerial vehicles

Jan Faigl, Petr Vana

2017 International Joint Conference on Neural Networks (IJCNN) > 4340 - 4347

2017 International Joint Conference on Neural Networks (IJCNN)

In this paper, we extent an existing self-organizing map (SOM)-based approach for the Dubins traveling salesman problem (DTSP) to solve its multi-vehicle variant generalized for visiting target regions called k-DTSP with Neighborhoods (k-DTSPN). The Dubins TSP is a variant of the combinatorial TSP for curvature-constrained vehicles. The problem is to determine a cost efficient path to visit a given...

chapter

On self-organizing maps for orienteering problems

Jan Faigl

2017 International Joint Conference on Neural Networks (IJCNN) > 2611 - 2620

2017 International Joint Conference on Neural Networks (IJCNN)

This paper concerns principles of unsupervised learning of self-organizing maps (SOMs) to address optimization routing problems called the Orienteering Problem (OP) and its multi-vehicle variant called the Team Orienteering Problem (TOP). The problems are similar to the traveling salesman problem in finding an optimal tour to visit all the given locations, but here, each location has specified reward...

chapter

Neural based obstacle avoidance with CPG controlled hexapod walking robot

Petr Cizek, Pavel Milicka, Jan Faigl

2017 International Joint Conference on Neural Networks (IJCNN) > 650 - 656

2017 International Joint Conference on Neural Networks (IJCNN)

In this work, we are proposing a collision avoidance system for a hexapod crawling robot based on the detection of intercepting objects using the Lobula giant movement detector (LGMD) connected directly to the locomotion control unit based on the Central pattern generator (CPG). We have designed and experimentally verified the proposed approach that maps the output of the LGMD directly on the locomotion...

article

Dubins Orienteering Problem

Robert Penicka, Jan Faigl, Petr Vana, Martin Saska

IEEE Robotics and Automation Letters > 2017 > 2 > 2 > 1210 - 1217

In this letter, we address the orienteering problem (OP) for curvature constrained vehicle. For a given set of target locations, each with associated reward, the OP stands to find a tour from a prescribed starting location to a given ending location such that it maximizes collected rewards while the tour length is within a given travel budget constraint. The addressed generalization of the Euclidean...

chapter

Evolution of multiple gaits for modular robots

Vojtech Vonasek, Jan Faigl

2016 IEEE Symposium Series on Computational Intelligence (SSCI) > 1 - 8

2016 IEEE Symposium Series on Computational Intelligence (SSCI)

Modular robots are composed of many elementary mechatronic modules that can be connected to form a robot body of various shapes. This feature allows such a robot to adapt for a given task and particular environment. A motion of the modular robot is based on control of individual angles between the modules, and the robot locomotion can be realized using Central Pattern Generators (CPG). A robot motion...

chapter

AR-Drone as a Platform for Robotic Research and Education

Tomáš Krajník, Vojtěch Vonásek, Daniel Fišer, Jan Faigl

Communications in Computer and Information Science > Research and Education in Robotics - EUROBOT 2011 > 172-186

This paper presents the AR-Drone quadrotor helicopter as a robotic platform usable for research and education. Apart from the description of hardware and software, we discuss several issues regarding drone equipment, abilities and performance. We show, how to perform basic tasks of position stabilization, object following and autonomous navigation. Moreover, we demonstrate the drone ability to act...

chapter

Stereo vision-based localization for hexapod walking robots operating in rough terrains

Thomas Fischer, Taihu Pire, Petr Cizek, Pablo De Cristoforis, more

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 2492 - 2497

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

This paper concerns the self-localization problem of a hexapod walking robot operating in rough terrains. Given that legged robots exhibit higher terrain passability than wheeled or tracked platforms when operating in harsh environments, they constitute a challenge for the localization techniques because the camera motion between consecutive frames can be arbitrary due to the motion gait and terrain...

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Search results for: Jan Faigl

Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle

Unsupervised learning‐based flexible framework for surveillance planning with aerial vehicles

GSOA: Growing Self-Organizing Array - Unsupervised learning for the Close-Enough Traveling Salesman Problem and other routing problems

Analysis of Using Mixed Reality Simulations for Incremental Development of Multi-UAV Systems

Guest editorial: Special issue on online decision making in multi-robot coordination

Online planning for multi-robot active perception with self-organising maps

Data collection planning with Dubins airplane model and limited travel budget

On solution of the Dubins touring problem

Foothold placement planning with a hexapod crawling robot

On close enough orienteering problem with Dubins vehicle

Dubins orienteering problem with neighborhoods

Mixed reality simulation for incremental development of multi-UAV systems

Self-organizing map for orienteering problem with dubins vehicle

Unsupervised learning for surveillance planning with team of aerial vehicles

On self-organizing maps for orienteering problems

Neural based obstacle avoidance with CPG controlled hexapod walking robot

Dubins Orienteering Problem

Evolution of multiple gaits for modular robots

AR-Drone as a Platform for Robotic Research and Education

Stereo vision-based localization for hexapod walking robots operating in rough terrains

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