- Bibliography (CROSBI)
- List of select publications
- Biography
- Teaching
- Research areas
- Professional memberships
- Personal data
- List of select projects
Multiscale and Uncertainty-aware Targetless Hand-Eye Calibration via the Gauss-Helmert Model
MOVRO2: Loosely coupled monocular visual radar odometry using factor graph optimization
MOVRO2: Loosely coupled monocular visual radar odometry using factor graph optimization
Generative Graphical Inverse Kinematics
Electromagnetic Simulation of Robotic Dynamic Scenes for Novel Sensor Developments
Motion Planning for Robotic Manipulation
Autonomous hierarchy creation for computationally feasible near-optimal path planning in large environments
Cost-Effective Robot Arm Teleoperation via Human Pose Tracking with Monocular Camera
Cost-Effective Robot Arm Teleoperation Via Human Pose Tracking with Monocular Camera
RAVE: A Framework for Radar Ego-Velocity Estimation
Autonomous hierarchy creation for computationally feasible near-optimal path planning in large environments
MOVRO: Loosely Coupled EKF-Based Monocular Visual Radar Odometry
Stereo Visual Localization Dataset Featuring Event Cameras
MOFT: Monocular odometry based on deep depth and careful feature selection and tracking
Towards camera parameters invariant monocular depth estimation in autonomous driving
A Distance-Geometric Method for Recovering Robot Joint Angles From an RGB Image
Road Curb Detection: ADAS for a Road Sweeper Vehicle
Towards camera parameters invariant monocular depth estimation in autonomous driving
Autonomous Hierarchy Creation for Path Planning of Mobile Robots in Large Environments
On Hand-Eye Calibration via On-Manifold Gauss-Newton Optimization
A Distance-Geometric Method for Recovering Robot Joint Angles From an RGB Image
A Distance-Geometric Method for Recovering Robot Joint Angles From an RGB Image
Autonomous Hierarchy Creation for Path Planning of Mobile Robots in Large Environments
Autonomous hierarchy creation for computationally feasible near-optimal path planning in large environments
Road Curb Detection: ADAS for a Road Sweeper Vehicle
Stereo Visual Localization Dataset Featuring Event Cameras
A Distance-Geometric Method for Recovering Robot Joint Angles From an RGB Image
A Geometric Approach for Generating Feasible Configurations of Robotic Manipulators
Human localization in robotized warehouses based on stereo odometry and ground-marker fusion
Autonomous Navigation of a Tracked Unmanned Ground Vehicle
Autonomous Hierarchy Creation for Path Planning of Mobile Robots in Large Environments
Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot
Enhanced calibration of camera setups for high-performance visual odometry
SOFT2: Stereo Visual Odometry for Road Vehicles based on a Point-to-Epipolar-Line Metric
Mixtures of Gaussian Processes for Robot Motion Planning Using Stochastic Trajectory Optimization
On Hand-Eye Calibration via On-Manifold Gauss-Newton Optimization
Convex Iteration for Distance-Geometric Inverse Kinematics
Human action prediction in collaborative environments based on shared-weight LSTMs with feature dimensionality reduction
Estimation Theory -- lectures
Autonomous agent localization in dynamic scenarios based on visual sensor data fusion
Online Multi-Sensor Calibration Based on Moving Object Tracking
A Riemannian metric for geometry-aware singularity avoidance by articulated robots
Active vision for 3D indoor scene reconstruction using a 3D camera on a pan-tilt mechanism
Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning
Center of Excellence for Computer Vision
Mobile Robot Teleoperation via Android Mobile Device with UDP Communication
Depth from Mono Accuracy Analysis by Changing Camera Parameters in the CARLA simulator
Feature-based Event Stereo Visual Odometry
A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM
Stereo Dense Depth Tracking Based on Optical Flow using Frames and Events
A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration
Multi-Target Tracking on Riemannian Manifolds via Probabilistic Data Association
Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy
Extrinsic and temporal calibration of heterogeneous mobile robot exteroceptive sensor systems
Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing
Ensemble of LSTMs and feature selection for human action prediction
Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking
Riemannian Optimization for Distance-Geometric Inverse Kinematics
Drivable path planning using hybrid search algorithm based on E* and Bernstein-Bezier motion primitives
Human Localization in Warehouse Environments based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes
Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems
Estimation and observability analysis of human motion on Lie groups
Motion planning of aerial vehicle based on risk assessment of failure states
State and parameter estimation of suspended load using quadrotor onboard sensors
Gaussian Processes Incremental Inference for Mobile Robots Dynamic Planning
Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis
Visual Place Recognition using Directed Acyclic Graph Association Measures and Mutual Information-based Feature Selection
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
Human Motion Prediction Framework for Safe Flexible Robotized Warehouses
Autonomous Navigation of Mobile Robots in Complex Dynamic Environments
Open Platform Based Mobile Robot Control for Automation in Manufacturing Logistics
Extrinsic 6DoF Calibration of a Radar-LiDAR- Camera System Enhanced by Radar Cross Section Estimates Evaluation
Stereo Event Lifetime and Disparity Estimation for Dynamic Vision Sensors
Pedestrian Tracking by Probabilistic Data Association and Correspondence Embeddings
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
Control architecture of a remotely controlled vehicle in extreme CBRNE conditions
Manipulability Maximization Using Continuous-Time Gaussian Processes
Mobile robot navigation for complete coverage of an environment
Path Planning for Active SLAM Based on the D* Algorithm With Negative Edge Weights
Exactly Sparse Delayed State Filter on Lie groups for Long-term Pose Graph SLAM
SOFT-SLAM: Computationally Efficient Stereo Visual SLAM for Autonomous UAVs
Computationally efficient dense moving object detection based on reduced space disparity estimation
Real-time visual odometry for robust navigation in unknown complex environments
Extrinsic 6DoF Calibration of 3D LiDAR and Radar
Receding Horizon Control for Convergent Navigation of a Differential Drive Mobile Robot
Human motion estimation on Lie groups using IMU measurements
Environment perception using a multisensor system
Mixture Reduction on Matrix Lie Groups
Score matching based assumed density filtering with the von Mises-Fisher distribution
Extended Information Filter on Matrix Lie Groups
Multiple Moving Objects Tracking Based On Random Finite Sets And Lie Groups
Dense Disparity Estimation in Ego-motion Reduced Search Space
Cooperative Cloud SLAM on Matrix Lie Groups
Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots
Fast planar surface 3D SLAM using LIDAR
Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes
Autonomous Exploration of Unknown Large Indoor Environments by a Mobile Robot for Three- dimensional Model Building
Revival of filtering based SLAM? Exactly sparse delayed state filter on Lie groups
Algorithm for Trajectory Optimization of a Mobile Robot that Takes into Account Velocity and Acceleration Constraints
Simultaneous mobile robot localization and three-dimensional modeling of unknown complex environments in real time
Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups
Coordinated Control of Multiple Mobile Robots with Kinematic and Dynamic Constraints
Robot arm teleoperation via RGBD sensor palm tracking
Autonomous stair climbing for mobile robot
Algorithms for the detection of moving objects utilizing lidar sensors and stereo camera
Process automatization seminar materials for industry participants - basic level
Staircase parameters determination based on laser rangefinder measurements
Dynamic objects short-term map based detection and JPDA filter tracking with 3D laser range sensor on a mobile platform
On wrapping the Kalman filter and estimating with the SO(2) group
Radar and stereo vision fusion for multitarget tracking on the special Euclidean group
Moving object tracking employing rigid body motion on matrix Lie groups
Multitarget tracking with the von Mises-Fisher filter and probabilistic data association
Process automatization seminar materials for industry participants - advanced level
UrbanWater platform for water distribution system management - concept and implementation
Water demand prediction and dynamic water prices computation
Detailed octorotor modeling and PD control
Full Body Human Motion Estimation on Lie Groups Using 3D Marker Position Measurements
Development of a computer program for short-term hourly electric power load and loss forecasting for distribution areas
Stereo odometry based on careful feature selection and tracking
Intelligent Control Systems: Neural Networks and Genetic Algorithms in Control
Appearance based vehicle detection by radar-stereo vision integration
Moving Objects Detection Using a Thermal Camera and IMU on a Vehicle
Short-Term Map Based Detection and Tracking of Moving Objects with 3D Laser on a Vehicle
Place recognition based on matching of planar surfaces and line segments
Controlling the arms of the Baxter robot by repeating demonstrated motions
Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations
Von Mises Mixture PHD Filter
Application of sonars on the robot Baxter
Kinova Jaco robot arm teleoperation with a 3D camera
Kinematics of Kinova Jaco robotic arm
Nonlinear Model Predictive Control for Energy Efficient Housing with Modern Construction Materials
Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications
Moving objects detection and tracking by omnidirectional sensors of a mobile robot
Tracking of multiple moving objects on the unit sphere using a multiple-camera system on a mobile robot
Autonomous Exploration of Large Unknown Indoor Environments for Dense 3D Model Building
Fast Active SLAM for Accurate and Complete Coverage Mapping of Unknown Environments
Path planning of mobile robots using Lattice Planner
Direction-only tracking of moving objects on the unit sphere via probabilistic data association
ACTIVE SUPPRESSION OF LOWFREQUENCY INTERFERENCE CURRENTS BY CONTROLLED GRID INTERFACE OF POWER CONVERTERS IN RAIL VEHICLES
A mobile robot based system for fully automated thermal 3D mapping
Cooperative control of heterogeneous robotic systems
Composite distance based approach to von Mises mixture reduction
Model-Based Approach to Real-Time Embedded Control Systems Development with Legacy Components Integration
Moving object detection, tracking and following using an omnidirectional camera on a mobile robot
Detection and tracking of dynamic objects using 3D laser range sensor on a mobile platform
Bayesian Sensor Fusion Methods for Dynamic Object Tracking - A Comparative Study
Audio interface software for a mobile robot
A Leader-Follower Approach to Formation Control of Multiple Non-Holonomic Mobile Robots
Occupancy grid map fusion in multi-robot systems
Concept of an intrabody networked brain-computer interface controlled assistive robotic system
Partial Mutual Information Based Input Variable Selection for Supervised Learning Approaches to Voice Activity Detection
Path planning of mobile robots with complex planar shapes
Object detection and recognition for grasping point extraction and excitation generation for brain-computer interface paradigm
Probabilistic approaches to motion planning of robotic systems
Process automation
Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments
Global Localization Based on 3D Planar Surface Segments
Minimum Startup Delay Approach to Coordination of Multiple Mobile Robots Motion Along Predefined Paths
Learning control for positionally controlled manipulators
Inertial aided sensor platform stabilization for multirotor aerial vehicles
Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors
Autonomous mobile robot Lego NXT 2.0
Complete coverage path planning of mobile robots for humanitarian demining
Control of dead-time processes robust to imprecision in the mathematical model
Active Suppression of Low-frequency Interference Currents by Implementation of the High-performance Control System for the Grid-interfaced Converters
Real-time estimation of emotional states based on physiological signals
Real time path smoothing using clothoids
Autotuning Power System Stabilizer based on Fuzzy Plant Model
Proceedings of the 10th IFAC Symposium on Robot Control - IFAC SYROCO 2012
Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences
Higher current and voltage harmonics and compensation of reactive power
Safe navigation of autonomous mobile robots in environment with moving obstacles
Dynamic Ackermann vehicle model
Comparison of Statistical Model-Based Voice Activity Detectors for Mobile Robot Speech Applications
Motion Planning of Mobile robots for Humanitarian demining
Relay procedure for digital controller synthesis
Human ear inspired signal preprocessing with application to speaker localization
Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps
The Project ThermalMapper - Thermal 3D Mapping of Indoor Environments for Saving Energy
Analytic design and control methods
Bearing-Only Tracking with a Mixture of von Mises Distributions
Bias Estimation and Calibration of a Pair of Laser Range Sensors
Robust voice activity detection for applications in mobile robotics
Robust feature based dynamic objects detection and tracking with an omnidirectional camera in mobile robot environment
Longitudinal Spacing Control of Vehicles in a Platoon for Stable and Increased Traffic Flow
3D simulation application suite for mobile robots
An Improved CamShift Algorithm Using Stereo Vision For Object Tracking
Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot
Time-Optimal Trajectory Planning Along Predefined Path for Mobile Robots with Velocity and Acceleration Constraints
Control of coal mills in coal fired thermal power plants
Path planning of complex shaped mobile robots
E* path planning algorithm of mobile robots in dynamic environments
Algorithm for Human Motion Tracking With Laser Range Sensor Based on Interaction of Multiple Models
Using a constructed 3D laser for 6D SLAM with a mobile robot
Improving mobile robot navigation by using inertial measurement unit
Improving mobile robot navigation by using a GPS unit
Mechanical construction and calibration of a 3D laser range sensor
AMORsim simulator extension with mobile robot navigation algorithms
Implementation of GPS localization for an outdoor mobile robot
Sustainability of embedded control systems for rail vehicles and power generation units
Occupancy grid map building with a mobile robot in an advanced 3D environment simulator
Design of lead and lag compensating regulators
Optical Flow Field Segmentation in an Omnidirectional Camera Image Based on Known Camera Motion
The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study
Real-Time Detection of Moving Objects by a Mobile Robot with an Omnidirectional Camera
People Tracking with Heterogeneous Sensors using JPDAF with Entropy Based Track Management
Generalization of 2D SLAM observability condition
Path Smoothing Using Clothoids for Differential Drive Mobile Robots
Mathematical models for short-term prediction of hourly electrical energy consumption for distribution areas
A visibility graph based method for path planning in dynamic environments
Exploration and Mapping of Unknown Polygonal Environments Based on Uncertain Range Data
Special issue ECMR 2009
Hierarchical path planning of mobile robots in complex indoor environments
Embedded computer control system for service mobile robots
Introducing Model-Based Techniques into Development of Real-Time Embedded Applications
Dynamic objects tracking with an omnidirectional camera on a mobile robot
Multiple speaker localization and tracking based on a microphone array on a mobile robot using beamforming algorithm
Autonomous control of mobile robots by NI Labview
Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots
Two-way D* algorithm for path planning and replanning
Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles
Embedded computer system for control of service mobile robot
Speaker localization and tracking with a microphone array on a mobile robot using von Mises distribution and particle filtering
Speech synthesis module and its integration into a human-robot interaction system
Real-time interface for speech control of service mobile robots
A Takagi-Sugeno Fuzzy Model of Synchronous Generator Unit for Power System Stability Application
Locomotion mechanisms of wheeled mobile robots
Software interface for interaction with a service mobile robot
Speech recognition module and its integration into a human-robot interaction system
Dynamic scene analysis in mobile robot environment using omnidirectional camera
Voice activity detection in mobile robot environment
Neuronal mathematical model for predicting gas consumption
Localization, Motion Planning and Control of Mobile Robots in Intelligent Spaces
Model based Kalman Filter Mobile Robot Self-Localization
The use of Matlab software system in intelligent transportation system development
Sliding mode based load-frequency control in power systems
Applying optimal sliding mode based load-frequency control in power systems with controllable hydro power plants
Autonomous motion planning for a floor-cleaning machine
Modelling of Mobile Robot Dynamics
Mobile robot pose tracking by correlation of laser range finder scans in Hough domain
Experimental comparison of AdaBoost algorithms applied on Leg Detection with Different Range Sensor Setups
Control of nonholonomial mobile robots with differential drive
Exactly Sparse Delayed State Filter based robust SLAM with Stereo Vision
Application of the Matlab software package for technical problems solving
Auto-tuning power system stabilizer based on fuzzy model
Motion planning of autonomous mobile robots in dynamic and unknown indoor environments
Designing a mobile service robot
System for floor anomaly detection in front of a mobile robot
Identification of mobile robot model parameters
Path planning for complete coverage of known areas with a mobile robot
Implementation of algorithms for simultaneous localization and mapping in AMORsim mobile robot simulator
Microprocessor control system development for robot soccer mobile robot
Mobile robot motion planning using computational geometry
Pose estimation of mobile robots in partially and completely unknown environments
Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling
Experimental comparison of sonar based occupancy grid mapping methods
Application of consecutive range scan matching in mobile robot people tracking
Algorithm for recursive mobile robot's odometry calibration
Vision sensors for mobile robots
Project and implementation of docking station electronic module for mobile robot
Sliding Mode Based Load Frequency Control in Power Systems
Implemetation of professional modul of PID controller in FPGA frame
Mobile robot motion planning with application in robot dancing
Path planning of mobile robot for complete environment scanning
Feature extraction of mobile robot's environment using omnidirectional camera
A Takagi-Sugeno Fuzzy Model of Synchronous generators
Numerical aspect of digital controller implementation
Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation
Implementation and calibration of an omnidirectional vision system
Feature based mapping of big indoor spaces
Autonomous Navigation of Mobile Robots Based on Ultrasound Range Sensors
System for wireless communication between mobile robots for robot soccer and control computer
Experimental Investigations and Modeling of the Rubber-Asphalt Sliding Pair Dynamics
Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array
RANSAC-Based Stereo Image Registration with Geometrically Constrained Hypothesis Generation
Internet Based Teleoperation for Cooperative Navigation and Manipulation
Proceedings of the 4th European Conference on Mobile Robots - ECMR 2009
Implementaion of a high order regulator in FPGA frame
Toplogical mapping of big indoor spaces
Dance choreography for system of mobile robots
Exploration and mapping of unknown environments with incorporated noise models of the range data
Algorithm for suppression collision of mobile robot with other moving objects in narrow passages
Integration of Focused D* and Witkowski's algorithm for path planning and replanning
Improvement of Map Building during the Exploration of Polygonal Environments using the Range Data
Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots
Extending functionality of RF Ultrasound positioning system with dead-reckoning to accurately determine mobile robot’ s orientation
Geometrically Constrained RANSAC for Stereo Image Registration in Presence of High Ambiguity in Feature Correspondence
Implementation of Fuzzy-Model Based Autotuning Power System Stabilizer
The comparison of Matlab/Simulink and proprietary code generator efficiency
Distance Keeping for Underwater Vehicles - Tuning Kalman Filters Using Self-Oscillations
A New Approach to Control, Supervision and Maintenance of the Public Light
An experimental setup for automatic mobile robot odometry calibration
Tracking Multiple Moving Objects Using Adaptive Sample-based Joint Probabilistic Data Association Filter
Robotics in Edutainment: Robot Soccer
Speaker detection and tracking in mobile robot environment using a microphone array
Algorithms for trajectory tracking and posture stabilization of mobile robots with differential drive
Simultaneous mobile robot localization and map building using sparse extended information filter
Robust and accurate global vision system for real time tracking of multiple mobile robots
Mobile robot pose tracking using Cricket wireless sensor network
Simulators for three-dimensional modeling of mobile robot navigation space
Dynamic models of mobile robots with differential drive
On-line odometric system calibration of a differential drive mobile robot
A New Approach to Control, Supervision and Maintenance of the Public Light of the City of Zagreb
Autonomous mobile robot navigation based on computer vision
The construction concept of embedded computing system controlling autonomous mobile robot
Project and implementation of electronic module for control of mobile robot motor drive
The project and source code writing for a mobile robot sonar control module
Project and implementation of sonar electronic module for mobile robot
Automatic Creation of Hierarchical Maps for Indoor Environments
Control of wheel velocity for mobile robots with differential drive
Numerical aspects of digital controller implementation
Connecting of the user interface of a mobile robot with its navigation system using a communication system
Connecting of the user interface of a mobile robot with its navigation system using a communication system
Interface for interaction between mobile utility robot and user in office environments
Path planning of mobile robot for autonomous search of unknown indoor environment
Tracking of multiple moving objects with laser range finder
Interface for service mobile robot interaction in a supermarket
Neural network based tire/road friction force estimation
AMORsim simulator extension with new driving mechanisms of mobile robots
Correlation based approach to mobile robot pose tracking in unknown environments
Automatic perspective cameras' calibration
Estimation and Prediction in Load-frequency Control
Teleoperation Of Collaborative Mobile Robots With Force Feedback Over Internet
Two approaches to mobile robots simulator design
Mobile robot work space modeling in the AMORsim simulator
A system for tracking people in real time using a digital camera
Ultrasonic sensor based algorithms for robust mobile robot navigation
Mobile robot motion planning in a vast environments with the use of Hierarchical D* algorithm
Hybrid Theory Based Time-Optimal Control of an Electronic Throttle
Mobile robot simultaneous localization and map building using Unscented Kalman filter
Experimental setup for automatization of mobile robot odometric system calibration
Mobile Robot Localization using Soft-reduced Hypotheses Tracking
Dynamic window based approach to mobile robot motion control in the presence of moving obstacles
Damping of Wind Turbine Tower Oscillations through Rotor Speed Control
Design of a Wind Turbine Pitch Controller for Loads and Fatigue Reduction
Simple off-line Odometry Calibration of Differential Drive Mobile Robots
Wavelet-Based Edge Detection for Robot Vision Applications
Mobile robot self-localization in complex indoor environments using monocular vision and 3D model
Dynamic Window based Force Reflection for Safe Teleoperation of A Mobile Robot via Internet
Some Issues of Microprocessor-based Power System Stabilizer Implementation
Global Vision Based Tracking of Multiple Mobile Robots in Subpixel Precision
Platform based development of embedded systems for traction and power engineering applications - experiences and challenges
Mobile robot localization using monocular vision
Analasys of methods for diferencial drive mobile robot odometry system calibration
Sliding mode load frequency control
Real time automatic calibration of mobile robot's odometric system
Global Vision Based Tracking of Multiple Mobile Robots
Autonomous Mobile Robots Localization in Large Indoor Environmets by Using Ultrasound Range Sensors
Mobile Robot Localization using Local Occupancy Grid Maps Transformations
Identification of Wind Turbine Model for Controller Design
Visual Feedback in Mobile Robots Teleoperation
Force Feedback in Mobile Robots Teleoperation
Parquet Sorting and Grading Based on Color and Texture Analyses
Vision system design for accurate pose tracking of multiple mobile robots
Implementation aspects analysis of digital controllers
Constrained Optimal Control of an Electronic Throttle
AMORsim - A Mobile Robot Simulator for Matlab
People tracking in enclosed environment using thermal camera
Discrete-Time Sliding Mode Control of Load Frequency in Power Systems with Input Delay
An Algorithm for Deadlock Prevention Based on Iterative Siphon Control of Petri net
Localisation of Mobile Robots by Tracking Identical Colour Markers
Tensor product model transformation-based controller design for gantry crane control system – an application approach
Hybrid Theory Based Time-Optimal Control of an Electronic Throttle
Proceedings of the International Symposium on Industrial Electronics - ISIE 2005
Servosystems - Selected papers
Some aspects of reliability and maintenance of the public lightening
Map building using ultrasonic sensors and triangulation based fusion
Kalman Filter Theory Based Mobile Robot Pose Tracking Using Occupancy Grid Maps
Improvement of an Extended Kalman Filter based Mobile Robot Localization
Experimental Evaluation of Occupancy Grid Map Improvement by Sonar Data Corrections
An implementation of the triangulation based fusion mapping algorithm
Sonar-based self-orientation of indoor mobile robots
Supervised tracking of a mobile robot team
Mobile robots tracking using computer vision
An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments
Motion Control of Mobile Robots in Indoor Dynamic Environments
Experimental Investigations of a Direct Adaptive Neurofuzzy Controller
A control method for stable and smooth path following of mobile robots
Histogram Based Mobile Robot Localization
Proposal of Hypotheses Association for Mobile Robot Localization
Proposed program for maintenance of public lighting of the City of Zagreb
Remote and Distributed Control Systems
Feature extraction using the laser range finder
Computer Vision System Application in Process Automation
Proposed rules for the selection of control gear in the public lighting of the City of Zagreb
Implementation of libraries for image processing in Saphira enviroment
Continuum regression in process modeling based on plant data
Mobile robots tracking using computer vision
Street Lighting Control in the City of Zagreb
Neural Network Based Sliding Mode Control of Electronic Throttle
Simultaneous mobile robot localization and map building
Time-optimal Model Predictive Control for Electronic Throttle Reference Tracking - Experimental Results
Time-optimal Model Predictive Control for Electronic Throttle Reference Tracking - Experimental Results 2
Electronic Throttle State Estimation and Hybrid Theory Based Optimal Control
Wheel slip control between vehicle tire and road
Speculative trading strategy of buying crude oil for refinery on spot market
Sonar-based Pose Tracking of Indoor Mobile Robots
Intelligent control systems - Neural and Evolutionary Control
Public light control of the city of Zagreb
Deadlock Prevention in Manufacturing Systems Based on Petri Nets
An Approach to Motion Planning of Mobile Robots Considering Dynamic Constraints
Hough Transform based Correction of Mobile Robot Orientation
Comparison of Two Trajectory Planning Methods for Mobile Robots
NEURAL NETWORK BASED SLIDING MODE CONTROL OF ELECTRONIC THROTTLE
System Computer Control
Street light system regulation in Zagreb
Intelligent control strategies for multi-agent systems
Humanoid robots and robotic society
Motion Planning of Autonomous Mobile Robot in indoor environments
Modelling of Transport Delay on ETHERNET Communications Networks
Extended Kalman Filter based Mobile Robot Pose Tracking using Occupancy Grid Maps
An Integrated Approach to Motion Planning of Mobile Robots
Motion Planning of Mobile Robots in Indoor Environments
Time-optimal Model Predictive Control for Electronic Throttle Reference Tracking
Inteligent Measurement Systems in Process Automatization - Lectures Notes
Intelligent estimators
Road condition estimation based on the tire vibration model- preliminary analysis
Application of the RBF neural network for tire/road friction force estimation
An approach to odometry calibration of differential drive mobile robots
Improvements of Occupancy Grid Maps by Sonar Data Corrections
A Trajectory Tracking Controller For Mobile Robot With Differential Drive
Application of the RBF neural network for tire-road friction estimation
Regularization of neural network learning
Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction
Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction
Control of Multi-robot Systems
Control of a magnetic levitation process in SISO configuration
Control of magnetic levitation process in MIMO configuration
Mobile robot indoor navigation using dynamic window approach
From industrial towards service robots
Application of Extended Kalman Filter for Road Condition Estimation
Longitudinal Ventilation Control System in Road Tunnels
An approach to motion planning of indoor mobile robots
Navigation of mobile robots in indoor environments - state of the art and future directions
Mobile Robotics
State Estimation of an Electronic Throttle Body
Intelligent measurement systems in process automation
Estimation of lube oil viscosities on a vacuum distillation column
Machine Vision Based Control of the Ball and Beam
A Petri Net Approach of Deadlock Prevention in Batch Processes in Case of Failure
Fuzzy Model Predictive Control of Electrical Drives with Transmission Elasticity and Backlash
A reinforcement learning approach to obstacle avoidance of mobile robots
Traffic control in ATM communication networks
Model Predictive Control of Electronic Throttle
Toolkit for PID Dominant Pole Design
Application of the extended Kalman filter for road condition estimation
Application of extended Kalman filter for road condition estimation
Neural Network Based Sliding Mode Controller for a Class of Linear Systems with Unmatched Uncertainties
ATM Available Bit Rate Congestion Control with On-Line Network Model Identification
Experimental investigations of the rubber-asphalt sliding pair dynamics
Neural Network Based Correction of Odometry Errors in Mobile Robots
Adaptive Control Based on Fuzzy Process Model with Estimation of Premise Variables
Fuzzy Model Predictive Control of Electrical Drives with Transmission Elasticity and Backlash
Neural Network Based Predictive Control of Electrical Drives with Elastic Transmission and Backlash
Research project: Process automation - new control methodes
Convex Optimization in Training of CMAC Neural Networks
Research and development of new process control methods and structures
Synchronization of several feedback control loops closed over a common communication network
Application of Fuzzy Neural Networks in Predictive Control of Batch Distillation
CMAC Neural Networks for Control of Electrical Drives with Elastic Transmission and Backlash
Lectures on process measurements
Convex Optimization in Training of CMAC Neural Networks
Selftuning PID Controller Based on the Estimation of Process Ultimate Point
Regularization and validation of neural network models of nonlinear systems
Model structure selection for nonlinear system identification using feedforward neural networks
Servosystems in Presence of Torsion, Backlash and Friction
Process Identification
Automation of Plants and Processes
The concept of virtual laboratory for automatic control at FEEC Zagreb
Virtual Laboratory for Automatic Control and Supervision - Challenges and Opportunities
Neural Network Based Identification and Control of Non-linear Time Variable Processes
Application of a neural predictive controller in boost converter input current control
Modification and application of autotuning PID controller
Decoupling Multivariable GPC With Reference Observation
Neural control of boost converters' input current
A Knowledge-Base Generating Fuzzy-Neural Controller
Pole Placement Controller Design Based on Fuzzy Process Model
Lectures on process identification
Realization of Control System for a Linear Three-Mass Oscillatory System
Laboratory Model of a Two-axis Positioning and Tracking Servosystem Carried Out by Utilization of an A.P.C. Turret
Towards Industrial Autotuning Controller
Generalized Predictive Controller Applied in Boost Converter Input Current Control
Laboratory model of the two-axis positioning and tracking system
Development and Experimental Research of Friction, Backlash and Elasticity Effects compensation in Transmissions of Servosystems
Inteligent Process Control - part II
Process and Plant Automatization - Laboratory Exercises Instructions
A Neuro-predictive Controller for Industrial Processes
Some practical aspects of control engineering education
Modernization of boiler feed pump drives for thermal power plant
Control of the Big Cities' Waterworks
Self-Tuning Controller Based On Process Fuzzy Model
Modelling and control of water supply systems
An Efficient Newton-type learning Algorithm for MLP Neural Networks
Autotuning PID controller with supervision shell
Fuzzy Control of a Water Supply System
Control Automation - Laboratory Exercises Instructions
Comparison of the Self-Tuning Generalised Predictive Controller and Pole Placement Controller
Fuzzy control of a water supply system
A Cascade-Correlation Learning Network with Smoothing
Measurment and Processing of the Process Variables of the Water Supply Plant Petruševac
A Method Of PID Controller Autotuning
Self-Tuning Generalized Predictive Control
Comparison of Several Recursive Identification Methods
The Calculation Of Energy Savings That Can Be Achieved By Variable Speed Pump Drives
Analysis Of The Modernatization Possibilities Of Steam Boiler Water Supply Pump Drives And Automation System In The Te Rijeka Steam Power Plant
A Material Velocity And Path Measurement System In Continuous Rolling Mills
Comparison of Several Recursive Identification Methods
Liquid-Level Control by Means of Self-Tuning PI Controller
Control System for Reuse of Wasted Hot Air in a Coffee Roasting Furnace
Process Identification - Project Asignment Instructions
Application of Communication Standards in Industrial Electric Drives and Automation Systems
Application of Communication Standards in Industrial Electrical Drives and Automatization Systems
A Concept of a asynchronous drive vector regulation module based on the TMS320C30 signal processor and the VME bus
Concept of a Pull Force Microprocessor Regulation System of a Locomotive with Asynchronous Pull Engines
A Concept of Microprocessor-Based Control System of Tractive Effort of Locomotive Equipped with AC Traction Motors
A Concept of a M'91 Rocket Motor Statical Testing System
Frequency Converter for Triphase Asynchronous Cage Drives Control
A Control Concept of Medium and heavy power Asynchronous Drives based on a Signal processor
Microprocessor system for Optimal Cutting of Rolled Material on Continuous Rolling Mills
System for measuring the speed and distance traveled by material in continuous rolling rails
Flying Shear Control System
Automated systems in Electromechanical Engineering and energy industry
A Concept of Pull Force Regulation System and Anti-Slide Protection in Vehicles on Tracks
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Flying Shear Control System
Flying shear 1MN Knives Positioning System
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Flying Shear Knives Trajectory in the Zenica Ironworks
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- Seder, Marija; Baotić, Mato; Petrović, Ivan. Receding Horizon Control for Convergent Navigation of a Differential Drive Mobile Robot. IEEE Transactions on Control Systems Technology. (2016) (accepted for publication)
- Petrinić, Toni; Brezak, Mišel; Petrović, Ivan. Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots. International journal of control automation and systems. (2016) (accepted for publication)
- Cupec, Robert; Nyarko, Emmanuel Karlo; Filko, Damir; Kitanov, Andrej; Petrović, Ivan. Place recognition based on matching of planar surfaces and line segments. International journal of robotics research. 34 (2015), 4-5; 674-704
- Marković, Ivan; Ćesić, Josip; Petrović, Ivan. Von Mises Mixture PHD Filter. IEEE Signal Processing Letters. 22 (2015), 12; 2229-2233
- Sazdovski, Vasko; Kitanov, Andrej; Petrović, Ivan. Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations. Aerospace science and technology. 40 (2015), January 2015; 33-46
- Brezak, Mišel; Petrović, Ivan. Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications. IEEE Transactions on Robotics. 30 (2014), 2; 507-515
- Bukal, Mario; Marković, Ivan; Petrović, Ivan. Composite distance based approach to von Mises mixture reduction. Information fusion. 20 (2014); 136-145
- Borrmann, Dorit; Nüchter, Andreas; Đakulović, Marija; Maurović, Ivan; Petrović, Ivan; Osmanković, Dinko; Velagić, Jasmin. A mobile robot based system for fully automated thermal 3D mapping. Advanced engineering informatics. 28 (2014), 4; 425-440
- Marković, Ivan; Jurić-Kavelj, Srećko; Petrović, Ivan. Partial Mutual Information Based Input Variable Selection for Supervised Learning Approaches to Voice Activity Detection. Applied soft computing. 13 (2013), 11; 4383-4391
- Đakulović, Marija; Petrović, Ivan. Complete coverage path planning of mobile robots for humanitarian demining. Industrial robot. 39 (2012), 5; 484-493
Biography
Ivan Petrović is a full professor at the Faculty of Electrical Engineering and Computing (FER), University of Zagreb, where he teaches several courses in robotics and control. He is the head of the Laboratory for Autonomous Systems and Mobile Robotics – LAMOR (http://lamor.fer.hr) and head of the Centre of Research Excellence for Advanced Cooperative Systems – ACROSS (http://across.fer.unizg.hr). During more than thirty years of research work, he addressed various aspects of automatic control theory and its application. In the last fifteen years, his research focus is set to advanced control and estimation techniques with their application in control and navigation of autonomous mobile robots and vehicles. He published his research achievements as author or co-author of more than 40 papers in scientific journals and more than 160 papers in proceedings of international conferences.
He has actively participated as a collaborator or principal investigator in more than 30 national and 15 international scientific projects. He coordinated the major national robotic research program “Intelligent robotic systems and autonomous vehicles” (2007-2014), which involved 5 major robotic research groups in Croatia, and the EU FP7 project “ACROSS - Centre of Research Excellence for Cooperative Robotic Systems” (2011-2015), which involved 14 research groups from the University of Zagreb, 16 research institutions from 10 European countries and 3 companies from Croatia. Currently, he is involved in 2 EU robotic projects: "EOLO: Wind generator remote inspection system", EuRoC – European Robotics Challenges, FP7 Project no. 608849, 2014-2017 and "SafeLog – Safe human-robot interaction in logistic applications for highly flexible warehouses", H2020 Project no. 688117, 2016-2019, and coordinates 1 UKF project: "CloudSLAM - Cooperative cloud based simultaneous localization and mapping in dynamic environments", Unity Through Knowledge Fund, Grant No. 24/15, 2015-2017.
Prof. Petrović is a member of IEEE, Croatian Academy of Engineering (HATZ), Vice-president of the Technical Committee on Robotics of the International Federation of Automatic Control (IFAC), executive committee member of the Federation of International Robot-soccer Association (FIRA), and a founding member of the iSpace Laboratory Network. He is also a board member of the Croatian Society for Communications, Computing, Electronics, Measurements and Control (KoREMA) and was the president of the Croatian Robotics Society. He is Editor-in-Chief of the Automatika journal. He regularly serves as the Program Committee member of major control and robotics conferences and was a General Chair of two robotic conferences: (1) the 4th European Conference on Mobile Robots - ECMR'09 (www.ecmr09.fer.hr) and (2) the 10th IFAC Symposium on Robot Control - SYOROCO 2012 (http://www.syroco2012.org).
He is recipient of the award "Professor Vratislav Bedjanič" in Ljubljana for outstanding M.Sc. thesis in 1990 and silver medal "Josip Lončar” from FER for outstanding Ph.D. thesis in 1998. For scientific achievements he received the award "Rikard Podhorsky” from the Croatian Academy of Engineering (2008), “National Science Award of the Republic of Croatia” (2011), the gold plaque "Josip Lončar” (2013) and “Science Award” from FER (2015).
Teaching
University undergraduate
- Computer-Controlled Systems (Lecturer in charge)
- Digital Control Systems (Lecturer in charge, Lecturer in charge)
- Final BSc Thesis (Lecturers)
- Project (Lecturers)
- Project C (Lecturers)
- Project E (Lecturers)
- Software Design Project (Lecturers)
- Software Design Project (Lecturers)
University graduate
- Autonomous Mobile Robots (Lecturer in charge)
- Autonomous Mobile Robots (Lecturer in charge)
- Estimation Theory (Lecturer in charge)
- Estimation Theory (Lecturer in charge)
- Intelligent Control Systems (Lecturer in charge)
- Laboratory of Control Engineering and Automation 2 (Lecturer in charge)
- Networked Control Systems (Lecturer in charge)
- Networking Technologies (Lecturer in charge)
- Networking Technologies (Lecturer in charge)
- Project (Lecturers)
- Project (Lecturers)
- Seminar (Lecturers)
- Seminar 2 (Lecturers)
Postgraduate doctoral study programme
- Applied estimation techniques (Lecturer in charge)
- Control of autonomous systems (Lecturer in charge)
- Research seminar in control engineering and automation 1 (Lecturer in charge)
- Research seminar in control engineering and automation 2 (Lecturer in charge)
- Research seminar in control engineering and automation 3 (Lecturer in charge)
- Research seminar in control engineering and automation 4 (Lecturer in charge)
- Research seminar in control engineering and automation 5 (Lecturer in charge)
- Research seminar in control engineering and automation 6 (Lecturer in charge)
Postgraduate spec. study
- Railway signaling and communications system (Lecturer in charge)
- Railway traffic control systems (Lecturer in charge)
Competences
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Control systems
Automatic control Bidirectional control Centralized control Closed loop systems Control design Control engineering Control system synthesis Digital control Linear feedback control systems Motion control Networked control systems Nonlinear control systems PD control PI control Sliding mode control -
Intelligent transportation systems
Intelligent vehicles -
Mathematics
Estimation -
Robotics and automation
Autonomous systems Autonomous robots Cognitive robotics Computer vision Intelligent robots Mobile robots Robot control Robot kinematics Robot learning Robot sensing systems Visual odometry -
Computational and artificial intelligence
Autonomous robots Cooperative systems Autonomous systems Intelligent robots Feedforward neural networks Radial basis function networks -
Circuits and systems
Kalman filters Nonlinear filters Particle filters
Personal data
List of select projects
- SafeLog – Safe human-robot interaction in logistic applications for highly flexible warehouses, EU H2020 project, H2020-ICT-2015, Project No.: 688117; 2016-2019
- CloudSLAM - Cooperative cloud based simultaneous localization and mapping in dynamic environments, Unity Through Knowledge Fund, Grant No. 24/15, 2015-2017.
- EOLO – Windgenerator remote inspection system, European FP7 project, FoF-ICT-2013.7.1 - Application experiments for robotics and simulation, Call FP7-2013-NMP-ICT-FOF (project is part of the EU FP7 project EuRoC - European Robotics Challenges, Grant No. 608849), 2014-2017.
- Advanced technologies in power plants and rail vehicles. European Regional Development Fund (ERDF), Project No.: RC.2.2.08-0015, 2014-2016.
- ACROSS – Centre of Research Excellence for Advanced Cooperative Systems, European FP7 project, FP7-REGPOT-2011-1, Project No.: 285939; 2011-2015.