Publications

Journals

2016

  • [PDF] [DOI] B. Paden*, M. Čáp*, S. Z. Yong, D. Yershov, and E. Frazzoli, “A survey of motion planning and control techniques for self-driving urban vehicles,” IEEE transactions on intelligent vehicles, vol. 1, iss. 1, pp. 33-55, 2016.
    [Bibtex]     
    @article{paden_2016,
    author={Paden*, Brian and {\v C}{\'a}p*, Michal and Yong, Sze Zheng and Yershov, Dmitry and Frazzoli,Emilio},
    journal={{IEEE} Transactions on Intelligent Vehicles},
    title={A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles},
    year={2016},
    volume={1},
    number={1},
    pages={33-55},
    doi={10.1109/TIV.2016.2578706},
    ISSN={2379-8858},
    month={March},
    }

2015

  • [PDF] [DOI] M. Čáp, P. Novák, A. Kleiner, and M. Selecký, “Prioritized planning algorithms for trajectory coordination of multiple mobile robots,” IEEE transactions on automation science and engineering, vol. 12, iss. 3, pp. 835-849, 2015.
    [Bibtex]      Webpage Video Codebase
    @article{cap_2015_b,
    author = {Michal \v{C}\'{a}p and
    Peter Nov{\'{a}}k and
    Alexander Kleiner and
    Martin Seleck{\'{y}}},
    title = {Prioritized Planning Algorithms for Trajectory Coordination of Multiple Mobile Robots},
    journal = {{IEEE} Transactions on Automation Science and Engineering},
    volume = {12},
    number = {3},
    pages = {835--849},
    year = {2015},
    url = {http://dx.doi.org/10.1109/TASE.2015.2445780},
    doi = {10.1109/TASE.2015.2445780},
    webpage = {http://agents.fel.cvut.cz/~cap/decoupled-methods-for-multi-robot-motion-planning/},
    video = {https://www.youtube.com/watch?v=dFm-JJhyuv0},
    codebase = {https://github.com/mcapino/adpp-journal},
    }

2013

  • [PDF] A. Komenda, J. Vokřínek, M. Čáp, and M. Pěchouček, “Developing multiagent algorithms for tactical missions using simulation,” Intelligent Systems, IEEE, vol. 28, iss. 1, pp. 42-49, 2013.
    [Bibtex]     
    @ARTICLE{komenda_2013_a,
    author={Anton\'{i}n Komenda and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Michal \v{C}\'{a}p and Michal P\v{e}chou\v{c}ek},
    journal={{Intelligent Systems, IEEE}}, title={Developing Multiagent Algorithms for Tactical Missions Using Simulation},
    year={2013},
    volume={28},
    number={1},
    pages={42-49},
    }

2012

  • [PDF] P. Novák, A. Komenda, M. Čáp, J. Vokřínek, and M. Pěchouček, “Simulated multi-robot tactical missions in urban warfare,” in Multiagent systems and applications, Springer, 2012, pp. 147-183.
    [Bibtex]     
    @incollection{novak_2012_b,
    author={Peter Nov\'{a}k and Anton\'{i}n Komenda and Michal \v{C}\'{a}p and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Michal P\v{e}chou\v{c}ek},
    title={Simulated Multi-robot Tactical Missions in Urban Warfare},
    booktitle={Multiagent Systems and Applications},
    pages={147--183},
    publisher={Springer},
    year={2012}
    }
  • [PDF] [DOI] M. Jakob, M. Pechoucek, M. Cap, P. Novak, and O. Vanek, “Mixed-reality testbeds for incremental development of HART applications,” Intelligent Systems, IEEE, vol. 27, iss. 2, pp. 19-25, 2012.
    [Bibtex]     
    @ARTICLE{jakob_2011,
    author={Jakob, M. and Pechoucek, M. and Cap, M. and Novak, P. and Vanek, O.},
    journal={{Intelligent Systems, IEEE}},
    title={Mixed-reality testbeds for incremental development of {HART} applications},
    year={2012},
    month={march-april },
    volume={27},
    number={2},
    pages={19 -25},
    doi={10.1109/MIS.2012.2},
    ISSN={1541-1672},
    pdf={http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6127850},
    url={http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6127850},
    }

Conferences

2017

  • [PDF] L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. F. Chen, C. Choi, J. Dusek, D. Hoehener, S. Liu, M. Novitzky, I. F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. D. Vecchio, D. Rus, J. How, J. Leonard, and A. Censi, “Duckietown: an open and inexpensive and flexible platform for autonomy education and research,” in Ieee international conference on robotics and automation (icra), Singapore, 2017.
    [Bibtex]      Webpage
    @inproceedings{paull_2017,
    author = "Paull, Liam and Tani, Jacopo and Ahn, Heejin and Alonso-Mora, Javier and Carlone, Luca and Cap, Michal and Chen, Yu Fan and Choi, Changhyun and Dusek, Jeff and Hoehener, Daniel and Liu, Shih-Yuan and Novitzky, Michael and Okuyama, Igor Franzoni and Pazis, Jason and Rosman, Guy and Varricchio, Valerio and Wang, Hsueh-Cheng and Yershov, Dmitry and Zhao, Hang and Benjamin, Michael and Carr, Christopher and Zuber, Maria and Karaman, Sertac and Frazzoli, Emilio and Vecchio, Domitilla Del and Rus, Daniela and How, Jonathan and Leonard, John and Censi, Andrea",
    title = "Duckietown: an Open and Inexpensive and Flexible Platform for Autonomy Education and Research",
    url = "http://duckietown.mit.edu/",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2017",
    month = "May",
    address = "Singapore",
    webpage = {http://duckietown.mit.edu/},
    }

2016

  • [PDF] M. Čáp*, J. Gregoire*, and E. Frazzoli, “Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 2016.
    [Bibtex]      Video Codebase
    @inproceedings{cap_2016_a,
    author = {{\v C}{\'a}p*, M. and Gregoire*, J. and Frazzoli, E.},
    title = {Provably Safe and Deadlock-Free Execution of Multi-Robot Plans under Delaying Disturbances},
    booktitle = {{Proc. of {IEEE/RSJ} International Conference on Intelligent Robots and Systems (IROS 2016)}},
    year = {2016},
    video = "http://agents.felk.cvut.cz/~cap/rmtrack/",
    codebase = "https://github.com/mcapino/rmtrack",
    url = {http://arxiv.org/abs/1603.08582},
    }

2015

  • [PDF] M. Čáp, J. Vokřínek, and A. Kleiner, “Complete decentralized method for on-line multi-robot trajectory planning in well-formed infrastructures,” in Proceedings of the twenty-fifth international conference on automated planning and scheduling, ICAPS 2015, jerusalem, israel, june 7-11, 2015., 2015, pp. 324-332.
    [Bibtex]      Webpage Video Slides Codebase
    @inproceedings{cap_2015_a,
    author = {Michal \v{C}\'{a}p and
    Ji\v{r}\'{i} Vok\v{r}\'{i}nek and
    Alexander Kleiner},
    title = {Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Well-formed Infrastructures},
    booktitle = {Proceedings of the Twenty-Fifth International Conference on Automated
    Planning and Scheduling, {ICAPS} 2015, Jerusalem, Israel, June 7-11,
    2015.},
    pages = {324--332},
    year = {2015},
    webpage = {http://agents.fel.cvut.cz/~cap/decoupled-methods-for-multi-robot-motion-planning/},
    video = {https://www.youtube.com/watch?v=KUSPCOmX1ig},
    codebase = {https://github.com/mcapino/cobra-icaps2015},
    slides = {http://agents.fel.cvut.cz/~cap/wp-content/papercite-data/pdf/cap_2015_a-slides.pdf},
    }

2014

  • [PDF] P. Janovský*, M. Čáp*, and J. Vokřínek, “Finding coordinated paths for multiple holonomic robots in 2d polygonal environment,” in International conference on autonomous agents and multiagent systems, AAMAS’14, 2014.
    [Bibtex]      Webpage
    @inproceedings{janovsky_2014_a,
    author = "Janovsk\'{y}*, Pavel and \v{C}\'{a}p*, Michal and Ji\v{r}\'{i} Vok\v{r}\'{i}nek",
    title = "Finding Coordinated Paths for Multiple Holonomic Robots in 2D Polygonal Environment",
    booktitle = "International Conference on Autonomous Agents and Multiagent Systems, {AAMAS'14}",
    year = "2014",
    webpage = "http://people.cis.ksu.edu/~janovsky/ORCARRT.html",
    }

2013

  • [PDF] M. Čáp, P. Novák, M. Selecký, J. Faigl, and J. Vokřínek, “Asynchronous decentralized prioritized planning for coordination in multi-robot system,” in Intelligent robots and systems (IROS), 2013, 2013.
    [Bibtex]      Webpage Video Slides
    @inproceedings{cap_2013_b,
    author = "Michal \v{C}\'{a}p and Peter Nov\'{a}k and Martin Seleck\'{y} and Jan Faigl and Ji\v{r}\'{i} Vok\v{r}\'{i}nek",
    title = "Asynchronous Decentralized Prioritized Planning for Coordination in Multi-Robot System",
    booktitle = "Intelligent Robots and Systems ({IROS}), 2013",
    year = "2013",
    webpage = {http://agents.fel.cvut.cz/~cap/adpp/},
    video={https://www.youtube.com/watch?t=1&v=Y4ZEErSyCF8},
    slides = "http://agents.fel.cvut.cz/~cap/wp-content/papercite-data/pdf/cap_2013_b-slides.svg",
    }
  • [PDF] M. Selecký, M. Štolba, T. Meiser, M. Čáp, A. Komenda, M. Rollo, J. Vokřínek, and M. Pěchouček, “Deployment of multi-agent algorithms for tactical operations on uav hardware (demonstration),” in Proceedings of the 12th international conference on autonomous agents and multiagent systems, AAMAS’13, 2013.
    [Bibtex]     
    @inproceedings{selecky_2013_a,
    author = "Martin Seleck\'{y} and Michal \v{S}tolba and Tom\'{a}\v{s} Meiser and Michal \v{C}\'{a}p and Anton\'{i}n Komenda and Milan Rollo and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Michal P\v{e}chou\v{c}ek",
    title = "Deployment of Multi-agent Algorithms for Tactical Operations on UAV Hardware (Demonstration)",
    booktitle = "Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems, {AAMAS'13}",
    year = "2013",
    }
  • [PDF] M. Čáp, P. Novák, J. Vokřínek, and M. Pěchouček, “Multi-agent RRT*: sampling-based cooperative pathfinding (extended abstract),” in Proceedings of the 12th international conference on autonomous agents and multiagent systems, AAMAS’13, 2013.
    [Bibtex]     
    @inproceedings{cap_2013_a,
    author = {Michal \v{C}\'{a}p and Peter Nov\'{a}k and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Michal P\v{e}chou\v{c}ek},
    title = {Multi-agent {RRT*}: Sampling-based Cooperative Pathfinding (Extended Abstract)},
    booktitle = {Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems, {AAMAS'13}},
    year = {2013},
    }

2012

  • [PDF] P. Novák, A. Komenda, V. Lisý, B. Bošanský, M. Čáp, and M. Pěchouček, “Tactical operations of multi-robot teams in urban warfare (demonstration),” in Proceedings of the 11th international conference on autonomous agents and multiagent systems – volume 3 (AAMAS 2012), Richland, SC, 2012, pp. 1473-1474.
    [Bibtex]     
    @inproceedings{novak_2012,
    author = {Peter Nov\'{a}k and Anton\'{i}n Komenda and Viliam Lis\'{y} and Branislav Bo\v{s}ansk\'{y} and Michal \v{C}\'{a}p and Michal P\v{e}chou\v{c}ek},
    title = {Tactical operations of multi-robot teams in urban warfare (demonstration)},
    booktitle = {Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 3 ({AAMAS 2012})},
    series = {AAMAS '12},
    year = {2012},
    pages = {1473--1474},
    publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
    address = {Richland, SC},
    }
  • [PDF] A. Komenda, M. Čáp, and M. Pěchouček, “Multi-agent simulation approach to development of applications for decentralized tactical missions,” in Knowledge systems for coalition operations (ksco-12), 2012.
    [Bibtex]     
    @inproceedings{komenda_2012,
    author={Antonin Komenda and Michal \v{C}\'{a}p and Michal P\v{e}chou\v{c}ek},
    title={Multi-agent Simulation Approach to Development of Applications for Decentralized Tactical Missions},
    booktitle={Knowledge Systems for Coalition Operations (KSCO-12)},
    year={2012},
    }

2011

  • [PDF] M. Čáp, J. Vokřínek, and A. Komenda, “Communication- and computation- bounded agents in multi-agent simulations,” in Holonic and multi-agent systems for manufacturing (holomas), 2011.
    [Bibtex]     
    @inproceedings{cap_2011_c,
    author = {Michal \v{C}\'{a}p and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Anton\'{i}n Komenda},
    title = {Communication- and Computation- Bounded Agents in Multi-Agent Simulations},
    booktitle = {Holonic and Multi-Agent Systems for Manufacturing (HoloMAS)},
    year = {2011},
    }
  • [PDF] M. Cap, M. Dastani, and M. Harbers, “Belief/goal sharing BDI modules (extended abstract),” in Tenth international conference on autonomous agents and multiagent systems (AAMAS), 2011.
    [Bibtex]     
    @inproceedings{cap_2011,
    author = {Michal Cap and Mehdi Dastani and Maaike Harbers},
    title = {Belief/Goal Sharing {BDI} Modules (Extended Abstract)},
    booktitle = {Tenth International Conference on Autonomous Agents and Multiagent Systems ({AAMAS})},
    editor = {Tumer, Yolum, Sonenberg and Stone},
    year = {2011},
    }

Workshops and Preprints

2015

  • [PDF] M. Čáp, P. Novák, and A. Kleiner, “Finding near-optimal solutions in multi-robot trajectory planning,” in Principles of multi-robot systems workshop at robotics: science and systems (RSS) 2015, rome, italy, july 13-17, 2015., 2015.
    [Bibtex]      Video Poster Codebase
    @inproceedings{cap_2015_c,
    author = {Michal \v{C}\'{a}p and
    Peter Nov{\'{a}}k and
    Alexander Kleiner},
    title = {Finding Near-optimal Solutions in Multi-robot Trajectory Planning},
    booktitle = {Principles of Multi-Robot Systems Workshop at Robotics: Science and Systems {(RSS)} 2015, Rome, Italy, July 13-17, 2015.},
    year = {2015},
    video = "http://agents.fel.cvut.cz/~cap/kpm/",
    codebase = "https://github.com/mcapino/kpm-experiments",
    poster = "http://agents.fel.cvut.cz/~cap/wp-content/papercite-data/pdf/cap_2015_c-poster.pdf",
    }

2014

  • [PDF] M. Čáp, P. Novák, and A. Kleiner, “Finding near-optimal solutions in multi-robot path planning,” ArXiv cs.RO (pre-print server), 2014.
    [Bibtex]      Webpage Poster Codebase
    @article{cap_2014_b,
    author = "Michal \v{C}\'{a}p and Peter Nov\'{a}k and Alexander Kleiner",
    title = "Finding Near-optimal Solutions in Multi-robot Path Planning",
    journal = "{ArXiv cs.RO} (pre-print server)",
    pdf="http://arxiv.org/abs/1410.5200v1",
    year = "2014",
    webpage = "http://agents.fel.cvut.cz/~cap/kpm/",
    codebase = "http://agents.fel.cvut.cz/~cap/kpm/",
    poster = "http://agents.fel.cvut.cz/~cap/wp-content/papercite-data/pdf/cap_2015_c-poster.pdf",
    }

2013

  • [PDF] M. Čáp, P. Novák, J. Vokřínek, and M. Pěchouček, “Multi-agent RRT*: sampling-based cooperative pathfinding,” in Autonomous robots and multirobot systems workshop at AAMAS 2013, 2013.
    [Bibtex]      Poster
    @inproceedings{cap_2013_c,
    author = "Michal \v{C}\'{a}p and Peter Nov\'{a}k and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Michal P\v{e}chou\v{c}ek",
    title = "Multi-agent {RRT*}: Sampling-based Cooperative Pathfinding",
    booktitle = "Autonomous Robots and Multirobot Systems Workshop at {AAMAS 2013}",
    year = "2013",
    poster = "http://agents.fel.cvut.cz/~cap/wp-content/papercite-data/pdf/cap_2013_c-poster.pdf",
    }

2012

  • [PDF] M. Čáp, P. Novák, J. Vokřínek, and M. Pěchouček, “Asynchronous decentralized algorithm for space-time cooperative pathfinding,” in Spatio-temporal dynamics workshop (stedy), sfb/tr 8 spatial cognition center report, no. 030-08/2012, 2012.
    [Bibtex]      Webpage
    @inproceedings{cap_2012_b,
    author = {Michal \v{C}\'{a}p and Peter Nov\'{a}k and Ji\v{r}\'{i} Vok\v{r}\'{i}nek and Michal P\v{e}chou\v{c}ek},
    title = {Asynchronous Decentralized Algorithm for Space-Time Cooperative Pathfinding},
    booktitle = {Spatio-Temporal Dynamics Workshop (STeDy), SFB/TR 8 Spatial Cognition Center Report, No. 030-08/2012},
    year = {2012},
    webpage = {http://agents.fel.cvut.cz/~cap/adpp/}
    }

2010

  • [PDF] M. Cap, A. Heuvelink, K. van den Bosch, and W. van Doesburg, “Using agent technology to build a real-world training application,” in Proceedings of the workshop on agents for games and simulation (AGS 2010): held at the 9th international conference on autonomous agents and multiagent systems (AAMAS 2010), 2010.
    [Bibtex]     
    @inproceedings{cap_2010,
    author = {Michal Cap and Annerieke Heuvelink and Karel van den Bosch and Willem van Doesburg},
    title = {Using Agent Technology to Build a Real-World Training Application},
    booktitle = {Proceedings of the Workshop on Agents for Games and Simulation ({AGS 2010}): Held at the 9th International Conference on Autonomous Agents and Multiagent Systems ({AAMAS 2010})},
    year = {2010},
    url={http://link.springer.com/chapter/10.1007%2F978-3-642-18181-8_10}
    }

Theses

2016

  • [PDF] M. Čáp, “Centralized and decentralized algorithms for multi-robot trajectory coordination,” PhD Thesis, 2016.
    [Bibtex]     
    @phdthesis{cap_2016_thesis,
    author={{\v C}{\'a}p, Michal},
    title={Centralized and Decentralized Algorithms for Multi-Robot Trajectory Coordination},
    school={CTU in Prauge},
    year={2016},
    }

2010

  • [PDF] M. Cap, “Belief/goal sharing BDI modules (MSc Thesis),” , 2010.
    [Bibtex]     
    @masterthesis{cap_2010_b,
    author={Michal Cap},
    title={Belief/Goal Sharing {BDI} Modules {(MSc Thesis)}},
    school={Utrecht University},
    address={the Netherlands},
    year={2010},
    note={Master thesis, Utrecht University, the Netherlands},
    }

Notes:
* Equal contribution