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Jan Faigl - IEEE Xplore Author Profile
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Jan Faigl

Also published under: J. Faigl

Publications
92
Citations
1,195
Publications by Year
20052025
Co-Authors:
Show All Co-Authors (109)
Image of author Jan Faigl

Jan Faigl

Also published under: J. Faigl

Affiliation

Czech Technical University in Prague, Prague, Czechia

Publication Topics

Biography

Jan Faigl received the Ph.D. degree in artificial intelligence and biocybernetics from the Czech Technical University, Prague, Czech Republic, in 2010.,His research interests include multigoal planning, motion planning for high-dimensional systems, and autonomous robotic systems.(Based on document published on 10 November 2012).
Publications
92
Citations
1,195
Publications by Year
20052025
Co-Authors:
Show All Co-Authors (109)
Author's Published Works

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Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Atharva Ghotavadekar;František Nekovář;Martin Saska;Jan Faigl

IEEE Robotics and Automation Letters
Year: 2025 | Volume: 10, Issue: 2 | Journal Article |
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting dynamic targets. Agile planning using existing non-linear model predictive control methods is limited by the number of planning steps as it becomes increasingly co...Show More

Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Atharva Ghotavadekar;František Nekovář;Martin Saska;Jan Faigl

Year: 2025 | Volume: 10, Issue: 2 | Journal Article |

LiDAR-Visual-Inertial Tightly-coupled Odometry with Adaptive Learnable Fusion Weights

Vsevolod Hulchuk;Jan Bayer;Jan Faigl

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
In this paper, we address the sensitivity of the 3D LiDAR-based localization to environmental structural ambiguity. Although existing approaches employ additional sensors, such as cameras and inertial measurement units, to account for such ambiguities, multi-sensor localization is still an open problem. Limitations are from the need to tune fusion parameters to compensate for limited ambiguity det...Show More

LiDAR-Visual-Inertial Tightly-coupled Odometry with Adaptive Learnable Fusion Weights

Vsevolod Hulchuk;Jan Bayer;Jan Faigl

Year: 2024 | Conference Paper |

Reward-field Guided Motion Planner for Navigation with Limited Sensing Range

Jan Bayer;Jan Faigl

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
In this paper, we focus on improving planning efficiency for ground vehicles in navigation and exploration tasks where the environment is unknown or partially known, leading to frequent updates of the navigational goal as new sensory information is acquired. Asymptotically optimal motion planners like RRT* or FMT* can be used to plan the sequence of actions the robot can follow to achieve its curr...Show More

Reward-field Guided Motion Planner for Navigation with Limited Sensing Range

Jan Bayer;Jan Faigl

Year: 2024 | Conference Paper |

On Predicting Terrain Changes Induced by Mobile Robot Traversal

Miloš Prágr;Jan Bayer;Jan Faigl

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
Mobile robots operating in convoys have a limited view of the terrain to be traversed if it is occluded by the preceding vehicle. Furthermore, the preceding vehicle might change the terrain geometry and eventually significantly alter its traversability by driving over the terrain. When the following vehicles do not consider such changes, they can use spurious terrain appearance and geometry to dec...Show More

On Predicting Terrain Changes Induced by Mobile Robot Traversal

Miloš Prágr;Jan Bayer;Jan Faigl

Year: 2024 | Conference Paper |

Wireless Communication Infrastructure Building for Mobile Robot Search and Inspection Missions

Martin Zoula;Jan Faigl

2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
In the paper, we address wireless communication infrastructure building by relay placement based on approaches utilized in wireless network sensors. The problem is motivated by search and inspection missions with mobile robots, where known sensing ranges may be exploited. We investigate the relay placement, establishing network connectivity to support robust food-based communication routing. The p...Show More

Wireless Communication Infrastructure Building for Mobile Robot Search and Inspection Missions

Martin Zoula;Jan Faigl

Year: 2024 | Conference Paper |

Autonomous Multi-Robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals

Jan Bayer;Petr Cížek;Jan Faigl

Field Robotics
Year: 2023 | Volume: 3 | Journal Article |
Cited by: Papers (1)
Autonomous navigation and multi-robot exploration framework for ground robots are key parts of the robotic system deployed by the team CTU-CRAS-NORLAB in the final event of the Subterranean (SubT) Challenge organized by the Defense Advanced Research Projects Agency (DARPA) in 2021. The SubT Challenge aimed to advance technologies related to search-and-rescue missions with multi-robot systems in un...Show More

Autonomous Multi-Robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals

Jan Bayer;Petr Cížek;Jan Faigl

Year: 2023 | Volume: 3 | Journal Article |

Risk-Aware Emergency Landing Planning for Gliding Aircraft Model in Urban Environments

Jakub Sláma;Jáchym Herynek;Jan Faigl

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
An in-flight loss of thrust poses a risk to the aircraft, its passengers, and people on the ground. When a loss of thrust happens, the (auto)pilot is forced to perform an emergency landing, possibly toward one of the reachable airports. If none of the airports is reachable, the aircraft is forced to land at another location, which can be risky in urban environments. In this work, we present a gene...Show More

Risk-Aware Emergency Landing Planning for Gliding Aircraft Model in Urban Environments

Jakub Sláma;Jáchym Herynek;Jan Faigl

Year: 2023 | Conference Paper |

Motion Planning for Multi-Legged Robots Using Levenberg-Marquardt Optimization with Bézier Parametrization

David Valouch;Jan Faigl

2023 European Conference on Mobile Robots (ECMR)
Year: 2023 | Conference Paper |
This paper presents a novel formulation of motion planning for multi-legged walking robots. In the proposed method, a single-step motion is formulated as a nonlinear equation problem (NLE): including kinematic, stability, and collision constraints. For the given start and goal configurations, the robot's path is parametrized as Bézier curve in the configuration space. The resulting NLE is solved u...Show More

Motion Planning for Multi-Legged Robots Using Levenberg-Marquardt Optimization with Bézier Parametrization

David Valouch;Jan Faigl

Year: 2023 | Conference Paper |

On Improvement Heuristic to Solutions of the Close Enough Traveling Salesman Problem in Environments with Obstacles

Jindřiška Deckerová;Kristýna Kučerová;Jan Faigl

2023 European Conference on Mobile Robots (ECMR)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
In this paper, we present a novel improvement heuristic to address the Close Enough Traveling Salesman Problem in environments with obstacles ($\text{CETSP}_{\text{obs}}$). The $\text{CETSP}_{\text{obs}}$ is a variant of the Traveling Salesman Problem (TSP), where the goal is to find a sequence of visits to given disk-shaped regions together with the points of visits to the regions. We address cha...Show More

On Improvement Heuristic to Solutions of the Close Enough Traveling Salesman Problem in Environments with Obstacles

Jindřiška Deckerová;Kristýna Kučerová;Jan Faigl

Year: 2023 | Conference Paper |

Graph-based LiDAR-Inertial SLAM Enhanced by Loosely-Coupled Visual Odometry

Vsevolod Hulchuk;Jan Bayer;Jan Faigl

2023 European Conference on Mobile Robots (ECMR)
Year: 2023 | Conference Paper |
Cited by: Papers (2)
In this paper, we address robot localization using Simultaneous Localization and Mapping (SLAM) with Light Detection and Ranging (LiDAR) perception enhanced by visual odometry in scenarios where laser scan matching can be ambiguous because of a lack of sufficient features in the scan. We propose a Graph-based SLAM approach that benefits from fusing data from multiple types of sensors to overcome t...Show More

Graph-based LiDAR-Inertial SLAM Enhanced by Loosely-Coupled Visual Odometry

Vsevolod Hulchuk;Jan Bayer;Jan Faigl

Year: 2023 | Conference Paper |

Multi-Vehicle Dynamic Water Surface Monitoring

František Nekovář;Jan Faigl;Martin Saska

IEEE Robotics and Automation Letters
Year: 2023 | Volume: 8, Issue: 10 | Journal Article |
Cited by: Papers (2)
Repeated exploration of a water surface to detect objects of interest and their subsequent monitoring is important in search-and-rescue or ocean clean-up operations. Since the location of any detected object is dynamic, we propose to address the combined surface exploration and monitoring of the detected objects by modeling spatio-temporal reward states and coordinating a team of vehicles to colle...Show More

Multi-Vehicle Dynamic Water Surface Monitoring

František Nekovář;Jan Faigl;Martin Saska

Year: 2023 | Volume: 8, Issue: 10 | Journal Article |

Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot

David Valouch;Jan Faigl

IEEE Robotics and Automation Letters
Year: 2023 | Volume: 8, Issue: 8 | Journal Article |
Cited by: Papers (4)
In this letter, we address path planning for the quasi-static locomotion of a multi-legged walking robot on terrains with limited available footholds, such as passing a water stream over rocks. The task is to find a feasible sequence of steps to navigate the robot in environments where precise foot placement and order of the leg movements are necessary for successful traversal. A finite set of the...Show More

Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot

David Valouch;Jan Faigl

Year: 2023 | Volume: 8, Issue: 8 | Journal Article |

Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm

Rudolf Szadkowski;Muhammad Sunny Nazeer;Matteo Cianchetti;Egidio Falotico;Jan Faigl

2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (6)
In this paper, we propose a novel dynamic gait controller for the repetitive behavior of soft robot manipulators performing routine tasks. Compliance with soft robots is advantageous when the robot interacts with living organisms and other fragile objects. However, predicting and controlling repetitive behavior is challenging because of hysteresis and non-linear dynamics governing the interactions...Show More

Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm

Rudolf Szadkowski;Muhammad Sunny Nazeer;Matteo Cianchetti;Egidio Falotico;Jan Faigl

Year: 2023 | Conference Paper |

Editorial: Special Issue on Advancements and Lessons Learned during Phases I and II of the DARPA Subterranean Challenge

Navinda Kottege;Sebastian Scherer;Jan Faigl;Ali Agha

Field Robotics
Year: 2022 | Volume: 2 | Journal Article |
Complex underground environments such as tunnels, underground urban settings, and natural caves present significant challenges for first responders in the event of an emergency. Each of these subdomains has unique hazards while sharing some common elements. Apart from challenging terrain features and aspects such as smoke and dust, communications in these environments are often severely degraded a...Show More

Editorial: Special Issue on Advancements and Lessons Learned during Phases I and II of the DARPA Subterranean Challenge

Navinda Kottege;Sebastian Scherer;Jan Faigl;Ali Agha

Year: 2022 | Volume: 2 | Journal Article |

Generating Safe Corridors Roadmap for Urban Air Mobility

Jakub Sláma;Petr Váňa;Jan Faigl

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Personal air transportation on short distances, so-called Urban Air Mobility (UAM), is a trend in modern aviation that raises new challenges as flying in urban areas at low altitudes induces an additional risk to people and properties on the ground. Risk-aware trajectory planning can mitigate the risk by detouring and flying over less populated and thus less risky areas. Existing risk-aware trajec...Show More

Generating Safe Corridors Roadmap for Urban Air Mobility

Jakub Sláma;Petr Váňa;Jan Faigl

Year: 2022 | Conference Paper |

Learning-based Detection of Leg-Surface Contact using Position Feedback Only

Jiří Kubík;Rudolf Szadkowski;Jan Faigl

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
In this work-in-progress report, we present experimental results of lightweight learning-based leg-contact detection methods for a small hexapod walking robot with position feed- back only. The detection of the leg contact with the surface is addressed as anomaly detection using predicted and measured positions of the leg’s joints in the leg swing phase. A polynomial regressor and three-layer neur...Show More

Learning-based Detection of Leg-Surface Contact using Position Feedback Only

Jiří Kubík;Rudolf Szadkowski;Jan Faigl

Year: 2022 | Conference Paper |

Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning

František Nekovář;Jan Faigl;Martin Saska

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
This paper concerns fault-tolerant power transmission line inspection planning as a generalization of the multiple traveling salesmen problem. The addressed inspection planning problem is formulated as a single-depot multiple-vehicle scenario, where the inspection vehicles are constrained by the battery budget limiting their inspection time. The inspection vehicle is assumed to be an autonomous mu...Show More

Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning

František Nekovář;Jan Faigl;Martin Saska

Year: 2022 | Conference Paper |

Terrain Traversal Cost Learning with Knowledge Transfer Between Multi-legged Walking Robot Gaits

Miloš Prágr;Rudolf Szadkowski;Jan Bayer;Josef Zelinka;Jan Faigl

2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
Year: 2022 | Conference Paper |
The terrain traversal abilities of multi-legged walking robots are affected by gaits, the walking patterns that enable adaptation to various operational environments. Fast and low-set gaits are suited to flat ground, while cautious and highset gaits enable traversing rough areas. A suitable gait can be selected using prior experience with a particular terrain type. However, experience alone is ins...Show More

Terrain Traversal Cost Learning with Knowledge Transfer Between Multi-legged Walking Robot Gaits

Miloš Prágr;Rudolf Szadkowski;Jan Bayer;Josef Zelinka;Jan Faigl

Year: 2022 | Conference Paper |

T*$\boldsymbol{\varepsilon}$—Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems

Doron Pinsky;Petr Váňa;Jan Faigl;Oren Salzman

IEEE Robotics and Automation Letters
Year: 2022 | Volume: 7, Issue: 2 | Journal Article |
Cited by: Papers (1)
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of speeds with unbounded acceleration. This setting can model many systems, such as fixed-wing drones. Unfortunately, planning for such systems might require evalu...Show More

T*$\boldsymbol{\varepsilon}$—Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems

Doron Pinsky;Petr Váňa;Jan Faigl;Oren Salzman

Year: 2022 | Volume: 7, Issue: 2 | Journal Article |

WiSM: Windowing Surrogate Model for Evaluation of Curvature-Constrained Tours With Dubins Vehicle

Jan Drchal;Jan Faigl;Petr Váňa

IEEE Transactions on Cybernetics
Year: 2022 | Volume: 52, Issue: 2 | Journal Article |
Cited by: Papers (9)
Dubins tours represent a solution of the Dubins traveling salesman problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is feasible for Dubins vehicle, which moves only forward and has a limited turning radius. The DTSP combines the NP-hard combinatorial optimization to determine the o...Show More

WiSM: Windowing Surrogate Model for Evaluation of Curvature-Constrained Tours With Dubins Vehicle

Jan Drchal;Jan Faigl;Petr Váňa

Year: 2022 | Volume: 52, Issue: 2 | Journal Article |

Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories

Kristýna Kučerová;Petr Váňa;Jan Faigl

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2021 | Conference Paper |
Cited by: Papers (6)
This paper presents a novel approach to the multigoal trajectory planning for vehicles with curvature-constrained trajectories such as fixed-wing aircraft. In the existing formulation called the Dubins Traveling Salesman Problem (DTSP), the vehicle speed is assumed to be constant over the whole trajectory, and that does not allow adaptation of the turning radius of the trajectory between the targe...Show More

Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories

Kristýna Kučerová;Petr Váňa;Jan Faigl

Year: 2021 | Conference Paper |

Finding 3D Dubins Paths with Pitch Angle Constraint Using Non-linear Optimization

Jáchym Herynek;Petr Váňa;Jan Faigl

2021 European Conference on Mobile Robots (ECMR)
Year: 2021 | Conference Paper |
Cited by: Papers (3)
This paper presents a novel non-linear programming formulation to find the shortest 3D Dubins path with a limited pitch angle. Such a path is suitable for fix-wing aircraft because it satisfies both the minimum turning radius and pitch angle constraints, and thus it is a feasible and smooth path in the 3D space. The proposed method utilizes the existing decoupled approach as an initial solution an...Show More

Finding 3D Dubins Paths with Pitch Angle Constraint Using Non-linear Optimization

Jáchym Herynek;Petr Váňa;Jan Faigl

Year: 2021 | Conference Paper |

Decentralized Topological Mapping for Multi-robot Autonomous Exploration under Low-Bandwidth Communication

Jan Bayer;Jan Faigl

2021 European Conference on Mobile Robots (ECMR)
Year: 2021 | Conference Paper |
Cited by: Papers (7)
This paper concerns a mapping framework for multi-robot exploration of underground environments with only very limited communication available. We focus on multi-robot map building and coordination to explore large areas with real-time planning to long distances. The considered communication can broadcast only 100 B/s, and therefore, we propose coordination planning using two terrain models. The f...Show More

Decentralized Topological Mapping for Multi-robot Autonomous Exploration under Low-Bandwidth Communication

Jan Bayer;Jan Faigl

Year: 2021 | Conference Paper |

Gait-Free Planning for Hexapod Walking Robot

David Valouch;Jan Faigl

2021 European Conference on Mobile Robots (ECMR)
Year: 2021 | Conference Paper |
Cited by: Papers (3)
This paper presents a gait-free motion planning approach for quasi-static walking of hexapod walking robots on terrains with limited available footholds. The proposed approach avoids using a prescribed gait pattern allowing an arbitrary sequence of leg swings. Furthermore, it is allowed that some legs do not need to be placed on the terrain for an extended duration. The proposed method is based on...Show More

Gait-Free Planning for Hexapod Walking Robot

David Valouch;Jan Faigl

Year: 2021 | Conference Paper |

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