IRC Robotics

Organisation: Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava


Address: Ilkovičova 3, 81219 Bratislava, Slovakia

Contact: František Duchoň (Tel: +421915719462, frantisek.duchon(at)


Other Staff:

  • Martin Kajan (FEI STU, Bratislava)
  • Robert Spielmann (FEI STU, Bratislava)
  • Peter Beňo (FEI STU, Bratislava)
  • Ján Šovčík (FEI STU, Bratislava)
  • Andrej Babinec (FEI STU, Bratislava)
  • Khanh Duong Quang (FEI STU, Bratislava)
  • Martin Florek (FEI STU, Bratislava)
  • Juraj Kostroš (FEI STU, Bratislava)


Team Profile:

We are a young team consisting of PhD students and researchers. The oldest member is 33 and the youngest 24 years old. We are all graduates from the Faculty of Electrical Engineering and Information Technology at the Slovak University of Technology in Bratislava and colleagues at the Institute of Robotics and Cybernetics. We have rich experience in mobile robotics and various applications of robotics.

Our team leader František Duchoň has a rich experience with mobile robotics, which is proven by 100+ scientific publications in this area. He has management experience in leading multiple robotic teams. He is a regular reviewer of Journal of Intelligent and Robotics Systems and EMB of International Journal of Robotics and Automation Technology. He is author of 2 textbooks concerning with mobile robotics. His research is documented by 3 CC publications [1, 2, 3].

Andrej Babinec – his dissertation thesis had been focused on reactive navigation of a mobile robot and he improved navigational method VFH* that has been suitable only for static environment to method VHF*TDT that is suitable for dynamic environment. This research is also documented in CC publication [2]. At the university, he lectures the subject Robot modeling and control that involves also control of robotic manipulators (kinematics and dynamics). This knowledge enables him to combine the motion of mobile robot with motion of manipulator to achieve desired goals.

Juraj Kostroš is a specialist in he field of industrial robotics and design of mechatronic devices. Main focus of his research is application of force-moment sensor during robotic assembly. Robots equipped by this sensors and special control algorithm are able assembly precise mechanical components together. [see images 1, 11, 12 and 13]

Martin Kajan – his research is focused on development of automated guided vehicle (AGV) controlled by combination of decentralized periphery Siemens PLC SIMATIC ET200S and industrial embedded PC. He is implementing algorithm of Simultaneous localization and mapping - SLAM to AGV vehicle. The SLAM algorithm uses a combination of 2D laser scanner, odometry and also IMU. [4, image 2]

Robert Spielmann – his research is focused on pre-processing and fusion data from sensors in real time by using DSP and FPGA. He is also able to create firmware for sensor units and create hardware for these units. For preprocesing measured data from sensors he uses algorithms which are contained in Matlab.

Peter Beňo - a skilled programmer with experience with many programming languages and operating systems. Right now he is devoted to building robots equipped with Kinect sensor [see images 14, 15 and 16]. His research is dedicated to development of perfect SLAM algorithm based on data from Kinect, odometry and IMU. He also develops algorithms for object/face/motion detection.

Ján Šovčík – His previous research was focused on movement coordination of multiple robots. Nowadays designs 3D ultrasonic measurement system for robot localization. Last 6 years works as IT network engineer and he is also certified Electrical Team Leader. [4]

Khanh Duong Quang – His research focuses on method of pre-shaping the input signal (input shaping) based on genetic algorithm and path planning using cubic, quintic, Bezier, B-spline curve representation with the purpose of eliminating fluctuation for multi-axis robots.

Martin Florek – In his research he deals with localization and control of the robot through stereo vision. In recent years, he worked on the design and implementation of control for robot through various control algorithms.

The organization of our team will be based on four workpackages. Each worpackage consist of one responsible person and several members. The team leader will be responsible for cooperation between workpackages.

  • 1. Movement control of mobile platform (Kajan, Duchoň, Babinec, Florek) Objectives: SLAM, movement in an environment with dynamical obstacles, collision avoidance, dynamical stability.
  • 2. Visual systems (Duchoň, Beňo, Spielmann) Objectives: camera calibration, image processing, object recognition, depth reconstruction.
  • 3. Robotic manipulator (Kostroš, Babinec, Khanh) Objectives: dexterous manipulation, inverse kinematics with constraints, object manipulation considering dynamical constraints.
  • 4. Signal processing (Šovčik, Spielmann) Objectives: filtration and fusion data from sensors, communication.

Our team participated in competitions: Istrobot, Robotour.

We have rich experiences in design of mobile robots:

  • blue robot MRVK - Slovak prototype of a mobile manipulator. [see images 17 and 18]
  • Black Metal - unmanned AGV, which solves the SLAM problem and navigation in unknown environment with moving obstacles. [see image 4]

Relevant publications:

  1. see
  2. see
  3. see
  4. see

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