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Robot path planning problem is one of most important task mobile robots. This paper proposes an original approach using a path description by string of cubic splines. Such path is easy executable and natural for car-like robot. Furthermore, it is possible to ensure smooth derivation in connections of particular splines. In this case, the path planning is(More)
Several navigation tasks utilizing a low-cost Micro Aerial Vehicle (MAV) platform AR-drone are presented in this paper to show how it can be used in an experimental verification of scientific theories and developed methodologies. An important part of this paper is an attached video showing a set of such experiments. The presented methods rely on visual(More)
A stabilization and control technique developed for steering swarms of unmanned micro aerial vehicles is proposed in this paper. The presented approach based on a visual relative localization of swarm particles is designed for utilization of multi-robot teams in real-world dynamic environments. The core of the swarming behaviour is inspired by Reynold's(More)
Motion planning techniques suited for initialization of Model Predictive Control based methodology applied for complex maneuvering and stabilization of formations of Micro Aerial Vehicles are proposed in this paper. Two approaches to initialization of the formation driving method will be described, experimentally verified, evaluated and compared. The first(More)
We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image(More)
In this paper, we present a small, light-weight, low-cost, fast and reliable system designed to satisfy requirements of relative localization within a swarm of micro aerial vehicles. The core of the proposed solution is based on off-the-shelf components consisting of the Caspa camera module and Gumstix Overo board accompanied by a developed efficient image(More)
—This paper presents insight to ideas and the current state of the project SyRoTek-System for a robotic e-learning that aims to create a platform for students' practical verification of gained knowledge in the fields of Robotics and Artificial Intelligence. A set of real mobile robots is being developed in order to provide remote access to real hardware for(More)
A navigation and stabilization scheme for 3D heterogeneous (UAVs and UGVs) formations acting under a hawk-eye like relative localization is presented in this paper. We formulate a novel Model Predictive Control (MPC) based concept for formation driving in a leader-follower constellation into a required target region. The formation to target region problem(More)
A system for autonomous roads sweeping by applying formations of mobile robots is presented in this paper. The proposed approach based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-word environments with static and dynamic obstacles. The formations employed for sweeping are built up ad-hoc, taking into(More)