Petr Štěpán

Czech Technical University in Prague — Czech Republic

Computer Science · Physical Sciences

12h-index654citations74works0.82yr avg
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Research Topics

Robotic Path Planning Algorithms(26), Robotics and Sensor-Based Localization(25), Advanced Software Engineering Methodologies(7), Advanced Vision and Imaging(5), Target Tracking and Data Fusion in Sensor Networks(5)

Publications74 total

Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle
IEEE Access·2026Open Access
Degradation-Aware Cooperative Multi-Modal GNSS-Denied Localization Leveraging LiDAR-Based Robot Detections
arXiv (Cornell University)·2025Open Access
FIMD: fast isolated marker detection for UV-based visual relative localisation in agile UAV swarms
Autonomous Robots·2025Open Access
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3-D Environments
IEEE Transactions on Robotics·2025· 1 cited
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
arXiv (Cornell University)·2024Open Access
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments
2024· 4 cited
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments
arXiv (Cornell University)·2023Open Access
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
Journal of Intelligent & Robotic Systems·2023· 35 cited
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle
arXiv (Cornell University)·2023· 2 citedOpen Access
Autonomous cooperative wall building by a team of Unmanned Aerial Vehicles in the MBZIRC 2020 competition
Robotics and Autonomous Systems·2023· 14 cited
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
arXiv (Cornell University)·2023· 1 citedOpen Access
Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization
2022 International Conference on Unmanned Aircraft Systems (ICUAS)·2022· 21 cited
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
2022 International Conference on Unmanned Aircraft Systems (ICUAS)·2022· 18 citedOpen Access
Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles
IEEE Robotics and Automation Letters·2021· 37 citedOpen Access
Autonomous Flying into Buildings in a Firefighting Scenario
2021· 12 cited
Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle
IEEE Access·2021· 57 citedOpen Access
Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition
arXiv (Cornell University)·2020· 9 citedOpen Access
IoT in buildings and optimization of energy consumption
Business & IT·2020· 1 citedOpen Access
Autonomous landing on a moving vehicle with an unmanned aerial vehicle
Journal of Field Robotics·2019· 155 cited
Sustainability and transport construction companies
International Days of Statistics and Economics 2019·2019· 1 citedOpen Access
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Frequent Co-authors

Martin Saska(17), Libor Přeučil(11), Tomáš Báča(10), Vojtěch Spurný(8), Václav Pritzl(8), Matěj Petrlík(8), Robert Pěnička(7), Daniel Heřt(6), Vít Krátký(6), Matouš Vrba(6), Miroslav Kulich(5), Viktor Walter(5), Jiří Horyna(5), David Žaitlík(4), Petr Štibinger(4), Luboš Král(4), Pavel Petráček(3), Pavel Stoudek(3), Giuseppe Silano(3), Daniel Bonilla Licea(3)